1.1     cube-computer-5-control-program-8

1.1.1     Telecommands

Table 1: List of Telecommands

ID

Name

Description

Length (bytes)

General

1

Reset

Perform a soft reset - Table 2

1

2

Current Unix time

Current Unix time - Table 4

8

3

Error Log Index

Describes the index of the error log that will be read when calling GetErrorLogEntry - Table 5

5

4

Error Log Entry

Error Log Entry - Table 7

8

5

Error Log Clear

Clear the Error Log - Table 8

0

6

Error Log Settings

Error Log Settings - Table 9

1

7

Persist Config

Writes volatile config items to flash - Table 12

0

49

Commanded GNSS measurements

GNSS sensor measurements as command to the ADCS - Table 13

33

50

Augmented SGP4 configuration

Augmented SGP4 configuration - Table 14

13

51

Orbit mode

Orbit mode - Table 15

1

52

Mag Deploy Command

Deploy Magnetometer - Table 17

1

54

Reference commands for controllers

Reference commands for controllers - Table 18

36

55

OpenLoopCommandMtq

OpenLoopCommandMtq - Table 19

6

56

Power state

Power state - Table 20

20

57

ADCS run mode

ADCS run mode - Table 22

1

58

Control mode

Control mode - Table 24

3

59

Wheel configuration

Wheel configuration - Table 26

62

60

Target satellite orbit parameter configuration

Satellite orbit parameter configuration - Table 29

64

61

ADCS satellite configuration

ADCS satellite configuration - Table 30

42

62

ADCS controller configuration

ADCS controller configuration - Table 31

86

63

Mag0 magnetometer in-orbit calibration configuration

Mag0 magnetometer in-orbit calibration configuration - Table 32

24

64

Default mode configuration

Default mode configuration - Table 33

4

65

Mounting configuration

Mounting configuration - Table 35

98

66

Mag1 magnetometer in-orbit calibration configuration

Mag1 magnetometer in-orbit calibration configuration - Table 37

24

67

ADCS estimator configuration

ADCS estimator configuration - Table 38

40

68

Satellite orbit parameter configuration

Satellite orbit parameter configuration - Table 41

64

69

Node selection configuration

Node selection configuration - Table 42

8

70

Magnetorquer configuration

Magnetorquer configuration - Table 43

20

71

Estimation mode

Estimation mode - Table 44

2

72

ADCS operational state

ADCS operational state - Table 45

1

73

Simulation raw sensor telemetry

Simulation raw sensor telemetry - Table 46

277

74

OpenLoopCommandRwl

OpenLoopCommandRwl - Table 47

16

76

OpenLoopCommandHxyzRW

OpenLoopCommandHxyzRW - Table 48

12

77

Mag sensing element configuration

Mag sensing element (primary/redundant) configuration - Table 49

1

78

Data Frame

A single frame of arbitrary data - Table 51

258

79

Transfer Frame

Image frame to or from buffer - Table 52

2

80

File Transfer Setup

Setup a file transfer - Table 53

141

99

Pass Through

TCTLM Passthrough settings - Table 59

1

111

Port Map

This telemetry describes the nodes that have been discovered i.e. connected to CubeConnect - Table 61

120

112

Unsolicited Telemetry Message Setup

Inclusion bitmask for unsolicited telemetry - Table 62

17

113

Reset Image File Info Index

Resets image file info index - Table 64

0

114

Set request image log transfer setup

Set request image log transfer setup - Table 65

6

115

Set a dummy event

Set a dummy event to be stored in the event log - Table 67

11

116

Unsolicited Event Message Setup

Setup unsolicited event messages - Table 69

2

117

Set request telemetry log transfer setup

Set request telemetry log transfer setup - Table 70

23

120

Initiate Filtered Event Log Transfer

Initiate event log transfer by specifying time range and data filter - Table 72

20

122

Format all logs

Format all logs - Table 73

1

 

Table 2: Reset Command Format

ID

1

Parameters Length (bytes)

1

Description

Perform a soft reset

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Reset Type

ENUM

The type of reset to perform. Possible values are in Table 3

 

Table 3: ResetVal Enumeration Values

Numeric Value

Name

Description

0

Do Nothing

Dummy Value

55

Soft

Performs a list of final() operations before resetting

66

Hard

Performs reset immediately

 

Table 4: Current Unix time Command Format

ID

2

Parameters Length (bytes)

8

Description

Current Unix time

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Current Unix seconds

UINT

Current Unix time s. (Unit of measure is [s])

 

32

32

Current Unix Nanoseconds

UINT

Current Unix time ns. (Unit of measure is [ns])

 

Table 5: Error Log Index Command Format

ID

3

Parameters Length (bytes)

5

Description

Describes the index of the error log that will be read when calling GetErrorLogEntry

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Error Log Index Reference

ENUM

0 = Head, 1 = Tail. Possible values are in Table 6

 

8

16

Error Log Index Value

UINT

Error Log Index Value ~ Relative to ErrorLogIndexReference

 

24

16

Error Log Entries

UINT

Number of Error Log Entries Present

 

Table 6: ErrorLogSearch Enumeration Values

Numeric Value

Name

Description

0

ReferenceHead

ReferenceHead

1

ReferenceTail

ReferenceTail

 

Table 7: Error Log Entry Command Format

ID

4

Parameters Length (bytes)

8

Description

Error Log Entry

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Error Log Entry Timestamp

UINT

Timestamp of this Error Log Entry

 

32

32

ErrorLogEntryErrorCode

UINT

ErrorCode of this Error Log Entry

 

Table 8: Error Log Clear Command Format

ID

5

Parameters Length (bytes)

0

Description

Clear the Error Log

 

Table 9: Error Log Settings Command Format

ID

6

Parameters Length (bytes)

1

Description

Error Log Settings

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

1

Active State

ENUM

Error Logging Enabled state. Possible values are in Table 10

 

1

1

Buffer Full Action

ENUM

Action to take when log is full. Possible values are in Table 11

 

2

6

Reserved

PADDING

Reserved.

 

Table 10: ActiveState Enumeration Values

Numeric Value

Name

Description

0

Enabled

Logging is disabled

1

Disabled

Logging is enabled

 

Table 11: BufferFullAction Enumeration Values

Numeric Value

Name

Description

0

Ignore

Ignore new entries when buffer is full

1

Erase

Erase log and add new entry when buffer is full

 

Table 12: Persist Config Command Format

ID

7

Parameters Length (bytes)

0

Description

Writes volatile config items to flash

 

Table 13: Commanded GNSS measurements Command Format

ID

49

Parameters Length (bytes)

33

Description

GNSS sensor measurements as command to the ADCS

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

GNSS Time integer seconds

UINT

GNSS Unix time integer seconds. (Unit of measure is [s])

 

32

32

GNSS Time nanoseconds

UINT

GNSS Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

32

Satellite position vector X component (GNSS frame)

INT

Satellite position vector X component (GNSS frame). (Unit of measure is [cm])

 

96

32

Satellite position vector Y component (GNSS frame)

INT

Satellite position vector Y component (GNSS frame). (Unit of measure is [cm])

 

128

32

Satellite position vector Z component (GNSS frame)

INT

Satellite position vector Z component (GNSS frame). (Unit of measure is [cm])

 

160

32

Satellite velocity vector X component (GNSS frame)

INT

Satellite velocity vector X component (GNSS frame). (Unit of measure is [cm/s])

 

192

32

Satellite velocity vector Y component (GNSS frame)

INT

Satellite velocity vector Y component (GNSS frame). (Unit of measure is [cm/s])

 

224

32

Satellite velocity vector Z component (GNSS frame)

INT

Satellite velocity vector Z component (GNSS frame). (Unit of measure is [cm/s])

 

256

1

Sync Time

BOOL

Flag to indicate if RTC should sync with unix time

 

Table 14: Augmented SGP4 configuration Command Format

ID

50

Parameters Length (bytes)

13

Description

Augmented SGP4 configuration

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

Batch size

UINT

Number of GNSS measurements before computing updates TLEs

 

16

32

Max time between GNSS measurements

UINT

Maximum time between GNSS measurements before resetting filters. (Unit of measure is [s])

 

48

16

Max position error

UINT

Maximum position error for asgp4 to continue working. (Unit of measure is [km])

 

64

32

Time gain

FLOAT

Time offset compensation gain

 

96

1

Update RAAN and Inclination

BOOL

Update SGP4 RAAN and Inclination angles from GNSS

 

97

1

Update Eccentricity

BOOL

Update SGP4 Eccentricity from GNSS

 

98

1

Update AP and MA

BOOL

Update SGP4 Arg. Perigee and Mean Anomaly from GNSS

 

99

1

Update Time

BOOL

Update SGP4 Epoch from GNSS

 

Table 15: Orbit mode Command Format

ID

51

Parameters Length (bytes)

1

Description

Orbit mode

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Orbit mode

ENUM

Orbit calculation mode. Possible values are in Table 16

 

Table 16: OrbModeSelect Enumeration Values

Numeric Value

Name

Description

0

SGP4 TLEs only

Orbit calculated from SGP4 TLEs only

1

GNSS primarily and SGP4 otherwise

Orbit calculated from SGP4 TLE but replaced with GNSS measurements if available

2

SGP4 Augmented using GNSS

Orbit calculated from Augmented SGP4 TLE

3

GNSS primarily and Augmented SGP4 otherwise

Orbit calculated from Augmented SGP4 TLE but replaced with GNSS measurements if available

 

Table 17: Mag Deploy Command Command Format

ID

52

Parameters Length (bytes)

1

Description

Deploy Magnetometer

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

1

Deploy MAG0

BOOL

Deploy MAG0

 

1

1

Deploy MAG1

BOOL

Deploy MAG1

 

Table 18: Reference commands for controllers Command Format

ID

54

Parameters Length (bytes)

36

Description

Reference commands for controllers

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

RPY Roll command

FLOAT

RPY Roll command. (Unit of measure is [deg])

 

32

32

RPY Pitch command

FLOAT

RPY Pitch command. (Unit of measure is [deg])

 

64

32

RPY Yaw command

FLOAT

RPY Yaw command. (Unit of measure is [deg])

 

96

32

Target latitude command

FLOAT

Target latitude command. (Unit of measure is [deg])

 

128

32

Target longitude command

FLOAT

Target longitude command. (Unit of measure is [deg])

 

160

32

Target altitude command

FLOAT

Target altitude command. (Unit of measure is [km])

 

192

32

Commanded ECI pointing vector X component

FLOAT

Commanded ECI pointing vector X component

 

224

32

Commanded ECI pointing vector Y component

FLOAT

Commanded ECI pointing vector Y component

 

256

32

Commanded ECI pointing vector Z component

FLOAT

Commanded ECI pointing vector Z component

 

Table 19: OpenLoopCommandMtq Command Format

ID

55

Parameters Length (bytes)

6

Description

OpenLoopCommandMtq

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

MTQ0 open-loop on-time command

INT

MTQ0 open-loop on-time command. (Unit of measure is [ms])

 

16

16

MTQ1 open-loop on-time command

INT

MTQ1 open-loop on-time command. (Unit of measure is [ms])

 

32

16

MTQ2 open-loop on-time command

INT

MTQ2 open-loop on-time command. (Unit of measure is [ms])

 

Table 20: Power state Command Format

ID

56

Parameters Length (bytes)

20

Description

Power state

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

RWL0 power state

ENUM

RWL0 power state. Possible values are in Table 21

 

8

8

RWL1 power state

ENUM

RWL1 power state. Possible values are in Table 21

 

16

8

RWL2 power state

ENUM

RWL2 power state. Possible values are in Table 21

 

24

8

RWL3 power state

ENUM

RWL3 power state. Possible values are in Table 21

 

32

8

MAG0 power state

ENUM

MAG0 power state. Possible values are in Table 21

 

40

8

MAG1 power state

ENUM

MAG1 power state. Possible values are in Table 21

 

48

8

GYR0 power state

ENUM

GYR0 power state. Possible values are in Table 21

 

56

8

GYR1 power state

ENUM

GYR1 power state. Possible values are in Table 21

 

64

8

FSS0 power state

ENUM

FSS0 power state. Possible values are in Table 21

 

72

8

FSS1 power state

ENUM

FSS1 power state. Possible values are in Table 21

 

80

8

FSS2 power state

ENUM

FSS2 power state. Possible values are in Table 21

 

88

8

FSS3 power state

ENUM

FSS3 power state. Possible values are in Table 21

 

96

8

HSS0 power state

ENUM

HSS0 power state. Possible values are in Table 21

 

104

8

HSS1 power state

ENUM

HSS1 power state. Possible values are in Table 21

 

112

8

STR0 power state

ENUM

STR0 power state. Possible values are in Table 21

 

120

8

STR1 power state

ENUM

STR1 power state. Possible values are in Table 21

 

128

8

ExtSensor0 power state

ENUM

ExtSensor0 power state. Possible values are in Table 21

 

136

8

ExtSensor1 power state

ENUM

ExtSensor1 power state. Possible values are in Table 21

 

144

8

EXTGYR0 power state

ENUM

EXTGYR0 power state. Possible values are in Table 21

 

152

8

EXTGYR1 power state

ENUM

EXTGYR1 power state. Possible values are in Table 21

 

Table 21: PowerSelect Enumeration Values

Numeric Value

Name

Description

0

Off

Off

1

On

On

2

NoChange

NoChange

3

Auto

Auto

4

OnPass

On - Passthrough Only (No ADCS operations)

5

OffUpgrade

Power off for upgrade (internal use only)

 

Table 22: ADCS run mode Command Format

ID

57

Parameters Length (bytes)

1

Description

ADCS run mode

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

ADCS run mode

ENUM

ADCS run mode. Possible values are in Table 23

 

Table 23: AdcsRunModeSelect Enumeration Values

Numeric Value

Name

Description

0

Off

ADCS loop is inactive

1

Enabled

ADCS loop is active

2

Triggered

ADCS loop executed on trigger

3

Simulation

ADCS is in simulation mode

 

Table 24: Control mode Command Format

ID

58

Parameters Length (bytes)

3

Description

Control mode

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Control mode

ENUM

Control mode. Possible values are in Table 25

 

8

16

Magnetic control timeout

UINT

Magnetic control timeout. (Unit of measure is [s])

 

Table 25: ConModeSelect Enumeration Values

Numeric Value

Name

Description

0

No control

No control

1

Single axis Bdot for detumbling

Single axis Bdot for detumbling

2

Y-Thomson spin

Y-Thomson spin

3

3-axis Bdot detumbling

3-axis Bdot detumbling

4

3-axis low power detumbling

3-axis low power detumbling

5

Sun Y-axis spin detumbling

Sun Y-axis spin detumbling

6

Z-Thomson spin

Z-Thomson spin

7

Sun Z-axis spin detumbling

Sun Z-axis spin detumbling

8

Mag control of GG boom and yaw zero control

Mag control of GG boom and yaw zero control

9

Mag control of GG boom and Z-RW yaw sun pointing

Mag control of GG boom and Z-RW yaw sun pointing

10

Initial Y-wheel ramp to Y-Wheel control

Initial Y-wheel ramp to Y-Wheel control

11

Y-wheel pitch control

Y-wheel pitch control

12

3-axis reaction wheel control

3-axis reaction wheel control

13

RW sun tracking control

RW sun tracking control

14

RW EO target tracking control

RW EO target tracking control

15

RW Earth target steering control

RW Earth target steering control

16

RW G/S target tracking control

RW G/S target tracking control

17

RW Inertial target tracking control

RW Inertial target tracking control

18

RW moon tracking control

RW moon tracking control

19

RW satellite target tracking control

RW satellite target tracking control

20

Nadir pointing and yaw towards the sun

Nadir pointing and yaw towards the sun

21

Nadir pointing and yaw towards ground target

Nadir pointing and yaw towards ground target

22

Velocity pointing and roll towards the sun

Velocity pointing and roll towards the sun

23

Velocity pointing and roll towards ground target

Velocity pointing and roll towards ground target

24

Nadir pointing and yaw best +/-Y body axis to G/S

Nadir pointing and yaw best +/-Y body axis to G/S

50

Controlled stop of RWs

Controlled stop of RWs

51

Open loop XYZ RW momentum command control

Open loop XYZ RW momentum command control

100

User coded control mode

User coded control mode

 

Table 26: Wheel configuration Command Format

ID

59

Parameters Length (bytes)

62

Description

Wheel configuration

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

RWL0 inertia

FLOAT

RWL0 inertia. (Unit of measure is [kg.m^2])

 

32

32

RWL0 maximum momentum

FLOAT

RWL0 maximum momentum. (Unit of measure is [N.m.s])

 

64

32

RWL0 maximum torque

FLOAT

RWL0 maximum torque. (Unit of measure is [N.m])

 

96

32

RWL1 inertia

FLOAT

RWL1 inertia. (Unit of measure is [kg.m^2])

 

128

32

RWL1 maximum momentum

FLOAT

RWL1 maximum momentum. (Unit of measure is [N.m.s])

 

160

32

RWL1 maximum torque

FLOAT

RWL1 maximum torque. (Unit of measure is [N.m])

 

192

32

RWL2 inertia

FLOAT

RWL2 inertia. (Unit of measure is [kg.m^2])

 

224

32

RWL2 maximum momentum

FLOAT

RWL2 maximum momentum. (Unit of measure is [N.m.s])

 

256

32

RWL2 maximum torque

FLOAT

RWL2 maximum torque. (Unit of measure is [N.m])

 

288

32

RWL3 inertia

FLOAT

RWL3 inertia. (Unit of measure is [kg.m^2])

 

320

32

RWL3 maximum momentum

FLOAT

RWL3 maximum momentum. (Unit of measure is [N.m.s])

 

352

32

RWL3 maximum torque

FLOAT

RWL3 maximum torque. (Unit of measure is [N.m])

 

384

32

Wheel ramp torque

FLOAT

Wheel ramp torque. (Unit of measure is [N.m])

 

416

8

Wheel scheme

ENUM

Wheel scheme. Possible values are in Table 27

 

424

8

Failed wheel ID

ENUM

Failed wheel ID. Possible values are in Table 28

 

432

32

Pyramid nominal momentum

FLOAT

Pyramid nominal momentum. (Unit of measure is [N.m.s])

 

464

32

Pyramid tilt angle

FLOAT

Pyramid tilt angle. (Unit of measure is [deg])

 

Table 27: RwlScheme Enumeration Values

Numeric Value

Name

Description

0

RwlSchemeNoWheels

RwlSchemeNoWheels

1

RwlSchemeYMomentum

RwlSchemeYMomentum

2

RwlSchemeXYZ

RwlSchemeXYZ

3

RwlSchemePyramid

RwlSchemePyramid

4

RwlSchemeTetrahedral

RwlSchemeTetrahedral

 

Table 28: RwlFailId Enumeration Values

Numeric Value

Name

Description

0

RwlFailNone

RwlFailNone

1

RwlFail0

RwlFail0

2

RwlFail1

RwlFail1

3

RwlFail2

RwlFail2

4

RwlFail3

RwlFail3

 

Table 29: Target satellite orbit parameter configuration Command Format

ID

60

Parameters Length (bytes)

64

Description

Satellite orbit parameter configuration

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

64

Orbit epoch

DOUBLE

Orbit epoch. (Unit of measure is [yyddd.ssssssss])

 

64

64

Orbit inclination

DOUBLE

Orbit inclination. (Unit of measure is [deg])

 

128

64

Orbit RAAN

DOUBLE

Orbit RAAN. (Unit of measure is [deg])

 

192

64

Orbit eccentricity

DOUBLE

Orbit eccentricity

 

256

64

Orbit argument of perigee

DOUBLE

Orbit argument of perigee. (Unit of measure is [deg])

 

320

64

Orbit mean anomaly

DOUBLE

Orbit mean anomaly. (Unit of measure is [deg])

 

384

64

Orbit mean motion

DOUBLE

Orbit mean motion. (Unit of measure is [orbits/day])

 

448

64

Orbit B-star drag term

DOUBLE

Orbit B-star drag term

 

Table 30: ADCS satellite configuration Command Format

ID

61

Parameters Length (bytes)

42

Description

ADCS satellite configuration

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Moment of inertia Ixx

FLOAT

Moment of inertia Ixx. (Unit of measure is [kg.m^2])

 

32

32

Moment of inertia Iyy

FLOAT

Moment of inertia Iyy. (Unit of measure is [kg.m^2])

 

64

32

Moment of inertia Izz

FLOAT

Moment of inertia Izz. (Unit of measure is [kg.m^2])

 

96

32

Product of inertia Ixy

FLOAT

Product of inertia Ixy. (Unit of measure is [kg.m^2])

 

128

32

Product of inertia Ixz

FLOAT

Product of inertia Ixz. (Unit of measure is [kg.m^2])

 

160

32

Product of inertia Iyz

FLOAT

Product of inertia Iyz. (Unit of measure is [kg.m^2])

 

192

16

Sun-pointing body vector X component

INT

Sun-pointing body vector X component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

208

16

Sun-pointing body vector Y component

INT

Sun-pointing body vector Y component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

224

16

Sun-pointing body vector Z component

INT

Sun-pointing body vector Z component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

240

16

Target-tracking body vector X component

INT

Target-tracking body vector X component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

256

16

Target-tracking body vector Y component

INT

Target-tracking body vector Y component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

272

16

Target-tracking body vector Z component

INT

Target-tracking body vector Z component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

288

16

Satellite-tracking body vector X component

INT

Satellite-tracking body vector X component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

304

16

Satellite-tracking body vector Y component

INT

Satellite-tracking body vector Y component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

320

16

Satellite-tracking body vector Z component

INT

Satellite-tracking body vector Z component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

Table 31: ADCS controller configuration Command Format

ID

62

Parameters Length (bytes)

86

Description

ADCS controller configuration

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Default control mode

ENUM

Default control mode. Possible values are in Table 25

 

8

32

Detumbling damping gain

FLOAT

Detumbling damping gain (Kd)

 

40

32

Sun-spin control gain - sunlit part

FLOAT

Sun-spin control gain (KDsun)

 

72

32

Sun-spin control gain - eclipse part

FLOAT

Sun-spin control gain (KDecl)

 

104

32

Detumbling spin gain

FLOAT

Detumbling spin gain (Ks)

 

136

32

Fast B-dot detumbling gain

FLOAT

Fast B-dot detumbling gain (Kdf)

 

168

32

Y-momentum nutation damping gain

FLOAT

Y-momentum nutation damping gain (Kn)

 

200

32

Y-momentum nutation damping quaternion gain

FLOAT

Y-momentum nutation damping quaternion gain (Kq)

 

232

32

X-axis GG nutation damping quaternion gain

FLOAT

X-axis GG nutation damping quaternion gain (Kqx)

 

264

32

Y-axis GG nutation damping quaternion gain

FLOAT

Y-axis GG nutation damping quaternion gain (Kqy)

 

296

32

Z-axis GG nutation damping quaternion gain

FLOAT

Z-axis GG nutation damping quaternion gain (Kqz)

 

328

32

Wheel desaturation control gain

FLOAT

Wheel momentum dumping magnetic control gain (Kh)

 

360

32

Y-momentum proportional gain

FLOAT

Y-momentum proportional gain (Kp1)

 

392

32

Y-momentum derivative gain

FLOAT

Y-momentum derivative gain (Kd1)

 

424

32

RWheel proportional gain

FLOAT

RWheel proportional gain (Kp2)

 

456

32

RWheel derivative gain

FLOAT

RWheel derivative gain (Kd2)

 

488

32

Tracking proportional gain

FLOAT

Tracking proportional gain (Kp3)

 

520

32

Tracking derivative gain

FLOAT

Tracking derivative gain (Kd3)

 

552

32

Tracking integral gain

FLOAT

Tracking integral gain (Ki3)

 

584

32

Reference spin rate

FLOAT

Reference spin rate (wy-ref). (Unit of measure is [degps])

 

616

32

Reference wheel momentum

FLOAT

Reference wheel momentum (H-ref). Must always be smaller than 0. (Unit of measure is [Nms])

 

648

32

Y-wheel bias momentum during XYZ-control

FLOAT

Y-wheel bias momentum during XYZ-control (Hy-bias). (Unit of measure is [Nms])

 

680

1

Yaw compensation for earth rotation

BOOL

Perform yaw compensation for earth rotation in 3-axis RPY control

 

681

7

Reserved

PADDING

Reserved.

 

Table 32: Mag0 magnetometer in-orbit calibration configuration Command Format

ID

63

Parameters Length (bytes)

24

Description

Mag0 magnetometer in-orbit calibration configuration

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

Magnetometer channel 1 offset

INT

Magnetometer channel 1 offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

16

16

Magnetometer channel 2 offset

INT

Magnetometer channel 2 offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

32

16

Magnetometer channel 3 offset

INT

Magnetometer channel 3 offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

48

16

Magnetometer sensitivity matrix S11

INT

Magnetometer sensitivity matrix S11. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

64

16

Magnetometer sensitivity matrix S22

INT

Magnetometer sensitivity matrix S22. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

80

16

Magnetometer sensitivity matrix S33

INT

Magnetometer sensitivity matrix S33. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

96

16

Magnetometer sensitivity matrix S12

INT

Magnetometer sensitivity matrix S12. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

112

16

Magnetometer sensitivity matrix S13

INT

Magnetometer sensitivity matrix S13. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

128

16

Magnetometer sensitivity matrix S21

INT

Magnetometer sensitivity matrix S21. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

144

16

Magnetometer sensitivity matrix S23

INT

Magnetometer sensitivity matrix S23. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

160

16

Magnetometer sensitivity matrix S31

INT

Magnetometer sensitivity matrix S31. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

176

16

Magnetometer sensitivity matrix S32

INT

Magnetometer sensitivity matrix S32. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

Table 33: Default mode configuration Command Format

ID

64

Parameters Length (bytes)

4

Description

Default mode configuration

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Default ADCS run mode

ENUM

Default ADCS run mode. Possible values are in Table 23

 

8

8

Default ADCS operational state

ENUM

Default ADCS operational state. Possible values are in Table 34

 

16

8

Default control mode in OpStateSafe

ENUM

Default control mode in OpStateSafe. Possible values are in Table 25

 

24

8

Default control mode in OpStateAuto

ENUM

Default control mode in OpStateAuto. Possible values are in Table 25

 

Table 34: AdcsOpStateSelect Enumeration Values

Numeric Value

Name

Description

0

Manual

Manual operational state

1

Auto

Autonomous operational state

2

Safe

Safe operational state

3

Fault

Fault operational state

 

Table 35: Mounting configuration Command Format

ID

65

Parameters Length (bytes)

98

Description

Mounting configuration

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

StackX mounting

ENUM

StackX mounting. Possible values are in Table 36

 

8

8

StackY mounting

ENUM

StackY mounting. Possible values are in Table 36

 

16

8

StackZ mounting

ENUM

StackZ mounting. Possible values are in Table 36

 

24

8

MTQ0 mounting

ENUM

MTQ0 mounting. Possible values are in Table 36

 

32

8

MTQ1 mounting

ENUM

MTQ1 mounting. Possible values are in Table 36

 

40

8

MTQ2 mounting

ENUM

MTQ2 mounting. Possible values are in Table 36

 

48

8

Wheel0 mounting

ENUM

Wheel0 mounting. Possible values are in Table 36

 

56

8

Wheel1 mounting

ENUM

Wheel1 mounting. Possible values are in Table 36

 

64

8

Wheel2 mounting

ENUM

Wheel2 mounting. Possible values are in Table 36

 

72

8

Wheel3 mounting

ENUM

Wheel3 mounting. Possible values are in Table 36

 

80

16

Pyramid RWL mounting alpha angle

INT

Pyramid RWL mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

96

16

Pyramid RWL mounting beta angle

INT

Pyramid RWL mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

112

16

Pyramid RWL mounting gamma angle

INT

Pyramid RWL mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

128

8

CSS0 mounting

ENUM

CSS0 mounting. Possible values are in Table 36

 

136

8

CSS1 mounting

ENUM

CSS1 mounting. Possible values are in Table 36

 

144

8

CSS2 mounting

ENUM

CSS2 mounting. Possible values are in Table 36

 

152

8

CSS3 mounting

ENUM

CSS3 mounting. Possible values are in Table 36

 

160

8

CSS4 mounting

ENUM

CSS4 mounting. Possible values are in Table 36

 

168

8

CSS5 mounting

ENUM

CSS5 mounting. Possible values are in Table 36

 

176

8

CSS6 mounting

ENUM

CSS6 mounting. Possible values are in Table 36

 

184

8

CSS7 mounting

ENUM

CSS7 mounting. Possible values are in Table 36

 

192

8

CSS8 mounting

ENUM

CSS8 mounting. Possible values are in Table 36

 

200

8

CSS9 mounting

ENUM

CSS9 mounting. Possible values are in Table 36

 

208

16

FSS0 mounting alpha angle

INT

FSS0 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

224

16

FSS0 mounting beta angle

INT

FSS0 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

240

16

FSS0 mounting gamma angle

INT

FSS0 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

256

16

FSS1 mounting alpha angle

INT

FSS1 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

272

16

FSS1 mounting beta angle

INT

FSS1 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

288

16

FSS1 mounting gamma angle

INT

FSS1 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

304

16

FSS2 mounting alpha angle

INT

FSS2 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

320

16

FSS2 mounting beta angle

INT

FSS2 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

336

16

FSS2 mounting gamma angle

INT

FSS2 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

352

16

FSS3 mounting alpha angle

INT

FSS3 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

368

16

FSS3 mounting beta angle

INT

FSS3 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

384

16

FSS3 mounting gamma angle

INT

FSS3 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

400

16

HSS0 mounting alpha angle

INT

HSS0 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

416

16

HSS0 mounting beta angle

INT

HSS0 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

432

16

HSS0 mounting gamma angle

INT

HSS0 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

448

16

HSS1 mounting alpha angle

INT

HSS1 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

464

16

HSS1 mounting beta angle

INT

HSS1 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

480

16

HSS1 mounting gamma angle

INT

HSS1 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

496

16

MAG0 mounting alpha angle

INT

MAG0 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

512

16

MAG0 mounting beta angle

INT

MAG0 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

528

16

MAG0 mounting gamma angle

INT

MAG0 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

544

16

MAG1 mounting alpha angle

INT

MAG1 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

560

16

MAG1 mounting beta angle

INT

MAG1 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

576

16

MAG1 mounting gamma angle

INT

MAG1 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

592

16

STR0 mounting alpha angle

INT

STR0 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

608

16

STR0 mounting beta angle

INT

STR0 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

624

16

STR0 mounting gamma angle

INT

STR0 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

640

16

STR1 mounting alpha angle

INT

STR1 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

656

16

STR1 mounting beta angle

INT

STR1 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

672

16

STR1 mounting gamma angle

INT

STR1 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

688

16

ExtSensor0 mounting alpha angle

INT

ExtSensor0 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

704

16

ExtSensor0 mounting beta angle

INT

ExtSensor0 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

720

16

ExtSensor0 mounting gamma angle

INT

ExtSensor0 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

736

16

ExtSensor1 mounting alpha angle

INT

ExtSensor1 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

752

16

ExtSensor1 mounting beta angle

INT

ExtSensor1 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

768

16

ExtSensor1 mounting gamma angle

INT

ExtSensor1 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

Table 36: AxisSelect Enumeration Values

Numeric Value

Name

Description

0

Not Used

Not Used

1

Positive X

Positive X

2

Negative X

Negative X

3

Positive Y

Positive Y

4

Negative Y

Negative Y

5

Positive Z

Positive Z

6

Negative Z

Negative Z

7

Tetrahedral A

Tetrahedral A

8

Tetrahedral B

Tetrahedral B

9

Tetrahedral C

Tetrahedral C

10

Tetrahedral D

Tetrahedral D

11

Pyramid A

Pyramid A

12

Pyramid B

Pyramid B

13

Pyramid C

Pyramid C

14

Pyramid D

Pyramid D

15

Skewed 4th wheel at PosXYZ

Skewed 4th wheel at PosXYZ

 

Table 37: Mag1 magnetometer in-orbit calibration configuration Command Format

ID

66

Parameters Length (bytes)

24

Description

Mag1 magnetometer in-orbit calibration configuration

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

Magnetometer channel 1 offset

INT

Magnetometer channel 1 offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

16

16

Magnetometer channel 2 offset

INT

Magnetometer channel 2 offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

32

16

Magnetometer channel 3 offset

INT

Magnetometer channel 3 offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

48

16

Magnetometer sensitivity matrix S11

INT

Magnetometer sensitivity matrix S11. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

64

16

Magnetometer sensitivity matrix S22

INT

Magnetometer sensitivity matrix S22. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

80

16

Magnetometer sensitivity matrix S33

INT

Magnetometer sensitivity matrix S33. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

96

16

Magnetometer sensitivity matrix S12

INT

Magnetometer sensitivity matrix S12. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

112

16

Magnetometer sensitivity matrix S13

INT

Magnetometer sensitivity matrix S13. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

128

16

Magnetometer sensitivity matrix S21

INT

Magnetometer sensitivity matrix S21. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

144

16

Magnetometer sensitivity matrix S23

INT

Magnetometer sensitivity matrix S23. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

160

16

Magnetometer sensitivity matrix S31

INT

Magnetometer sensitivity matrix S31. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

176

16

Magnetometer sensitivity matrix S32

INT

Magnetometer sensitivity matrix S32. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

 

Table 38: ADCS estimator configuration Command Format

ID

67

Parameters Length (bytes)

40

Description

ADCS estimator configuration

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Default main estimator mode

ENUM

Default main estimator mode. Possible values are in Table 39

 

8

8

Default backup estimator mode

ENUM

Default backup estimator mode. Possible values are in Table 39

 

16

32

MAG measurement noise

FLOAT

Magnetometer measurement noise

 

48

32

CSS measurement noise

FLOAT

Coarse sun sensor measurement noise

 

80

32

FSS measurement noise

FLOAT

Fine sun sensor measurement noise

 

112

32

HSS measurement noise

FLOAT

Horizon sensor measurement noise

 

144

32

STR measurement noise

FLOAT

Star tracker measurement noise

 

176

32

Magnetometer RKF system noise

FLOAT

Magnetometer RKF system noise

 

208

32

EKF system noise

FLOAT

EKF system noise

 

240

32

Nutation Epsilon correction

FLOAT

Polar nutation Epsilon correction. (Unit of measure is [rad])

 

272

32

Nutation Psi correction

FLOAT

Polar nutation Psi correction. (Unit of measure is [rad])

 

304

1

Use FSS in EKF

BOOL

Use fine sun sensor measurements in EKF

 

305

1

Use CSS in EKF

BOOL

Use coarse sun sensor measurements in EKF

 

306

1

Use HSS in EKF

BOOL

Use horizon sensor measurements in EKF

 

307

1

Use STR in EKF

BOOL

Use star tracker measurements in EKF

 

308

4

Triad Vector 1

ENUM

Vector 1 selection for Triad. Possible values are in Table 40

 

312

4

Triad Vector 2

ENUM

Vector 2 selection for Triad. Possible values are in Table 40

 

Table 39: EstModeSelect Enumeration Values

Numeric Value

Name

Description

0

No estimator

No estimator

1

Gyro measured rates

Gyro measured rates

2

Magnetometer estimated rates

Magnetometer estimated rates

3

Magnetometer estimated rates with pitch estimation

Magnetometer estimated rates with pitch estimation

4

Triad attitude estimation plus gyro rates

Triad attitude estimation plus gyro rates

5

Full state EKF

Full state EKF

6

Gyro EKF for attitude and gyro bias estimation

Gyro EKF for attitude and gyro bias estimation

100

User coded estimator

User coded estimator

 

Table 40: VecSelect Enumeration Values

Numeric Value

Name

Description

0

MAG

Select magnetometer vector

1

FSS

Select fine sun sensor vector

2

CSS

Select coarse sun sensor vector

3

HSS

Select horizon (nadir) vector

 

Table 41: Satellite orbit parameter configuration Command Format

ID

68

Parameters Length (bytes)

64

Description

Satellite orbit parameter configuration

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

64

Orbit epoch

DOUBLE

Orbit epoch. (Unit of measure is [yyddd.ssssssss])

 

64

64

Orbit inclination

DOUBLE

Orbit inclination. (Unit of measure is [deg])

 

128

64

Orbit RAAN

DOUBLE

Orbit RAAN. (Unit of measure is [deg])

 

192

64

Orbit eccentricity

DOUBLE

Orbit eccentricity

 

256

64

Orbit argument of perigee

DOUBLE

Orbit argument of perigee. (Unit of measure is [deg])

 

320

64

Orbit mean anomaly

DOUBLE

Orbit mean anomaly. (Unit of measure is [deg])

 

384

64

Orbit mean motion

DOUBLE

Orbit mean motion. (Unit of measure is [orbits/day])

 

448

64

Orbit B-star drag term

DOUBLE

Orbit B-star drag term

 

Table 42: Node selection configuration Command Format

ID

69

Parameters Length (bytes)

8

Description

Node selection configuration

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

RWL selection flags

UINT

RWL selection flags

 

8

8

MAG selection flags

UINT

MAG selection flags

 

16

8

FSS selection flags

UINT

FSS selection flags

 

24

8

HSS selection flags

UINT

HSS selection flags

 

32

8

GYR selection flags

UINT

GYR selection flags

 

40

8

STR selection flags

UINT

STR selection flags

 

48

8

GNSS selection flags

UINT

GNSS selection flags

 

56

8

External sensor selection flags

UINT

External sensor selection flags

 

Table 43: Magnetorquer configuration Command Format

ID

70

Parameters Length (bytes)

20

Description

Magnetorquer configuration

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

MTQ0 maximum dipole moment

FLOAT

MTQ0 maximum dipole moment. (Unit of measure is [A.m^2])

 

32

32

MTQ1 maximum dipole moment

FLOAT

MTQ1 maximum dipole moment. (Unit of measure is [A.m^2])

 

64

32

MTQ2 maximum dipole moment

FLOAT

MTQ2 maximum dipole moment. (Unit of measure is [A.m^2])

 

96

16

Maximum magnetorquer on-time

UINT

Maximum magnetorquer on-time. (Unit of measure is [ms])

 

112

16

Minimum magnetorquer on-time

UINT

Minimum magnetorquer on-time. (Unit of measure is [ms])

 

128

32

Magnetic control filter factor

FLOAT

LPF factor for magnetorquer commands. Set to zero for no filtering

 

Table 44: Estimation mode Command Format

ID

71

Parameters Length (bytes)

2

Description

Estimation mode

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Main estimator mode

ENUM

Main estimator mode. Possible values are in Table 39

 

8

8

Backup estimator mode

ENUM

Backup estimator mode. Possible values are in Table 39

 

Table 45: ADCS operational state Command Format

ID

72

Parameters Length (bytes)

1

Description

ADCS operational state

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

ADCS operational state

ENUM

ADCS operational state. Possible values are in Table 34

 

Table 46: Simulation raw sensor telemetry Command Format

ID

73

Parameters Length (bytes)

277

Description

Simulation raw sensor telemetry

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

16

FSS0 raw centroid X

INT

FSS0 raw centroid X. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0

 

80

16

FSS0 raw centroid Y

INT

FSS0 raw centroid Y. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0

 

96

16

FSS1 raw centroid X

INT

FSS1 raw centroid X. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0

 

112

16

FSS1 raw centroid Y

INT

FSS1 raw centroid Y. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0

 

128

16

FSS2 raw centroid X

INT

FSS2 raw centroid X. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0

 

144

16

FSS2 raw centroid Y

INT

FSS2 raw centroid Y. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0

 

160

16

FSS3 raw centroid X

INT

FSS3 raw centroid X. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0

 

176

16

FSS3 raw centroid Y

INT

FSS3 raw centroid Y. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0

 

192

16

CSS0 raw measurement

UINT

CSS0 raw measurement

 

208

16

CSS1 raw measurement

UINT

CSS1 raw measurement

 

224

16

CSS2 raw measurement

UINT

CSS2 raw measurement

 

240

16

CSS3 raw measurement

UINT

CSS3 raw measurement

 

256

16

CSS4 raw measurement

UINT

CSS4 raw measurement

 

272

16

CSS5 raw measurement

UINT

CSS5 raw measurement

 

288

16

CSS6 raw measurement

UINT

CSS6 raw measurement

 

304

16

CSS7 raw measurement

UINT

CSS7 raw measurement

 

320

16

CSS8 raw measurement

UINT

CSS8 raw measurement

 

336

16

CSS9 raw measurement

UINT

CSS9 raw measurement

 

352

16

MAG0 raw vector X component

INT

MAG0 raw vector X component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [uT] units)

 

368

16

MAG0 raw vector Y component

INT

MAG0 raw vector Y component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [uT] units)

 

384

16

MAG0 raw vector Z component

INT

MAG0 raw vector Z component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [uT] units)

 

400

16

MAG1 raw vector X component

INT

MAG1 raw vector X component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [uT] units)

 

416

16

MAG1 raw vector Y component

INT

MAG1 raw vector Y component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [uT] units)

 

432

16

MAG1 raw vector Z component

INT

MAG1 raw vector Z component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [uT] units)

 

448

32

GYR0 raw rate X component

FLOAT

GYR0 raw rate X component. (Unit of measure is [degps])

 

480

32

GYR0 raw rate Y component

FLOAT

GYR0 raw rate Y component. (Unit of measure is [degps])

 

512

32

GYR0 raw rate Z component

FLOAT

GYR0 raw rate Z component. (Unit of measure is [degps])

 

544

32

GYR1 raw rate X component

FLOAT

GYR1 raw rate X component. (Unit of measure is [degps])

 

576

32

GYR1 raw rate Y component

FLOAT

GYR1 raw rate Y component. (Unit of measure is [degps])

 

608

32

GYR1 raw rate Z component

FLOAT

GYR1 raw rate Z component. (Unit of measure is [degps])

 

640

16

HSS0 raw elevation angle

INT

HSS0 raw elevation angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

656

16

HSS0 raw rotation angle

INT

HSS0 raw rotation angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

672

16

HSS1 raw elevation angle

INT

HSS1 raw elevation angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

688

16

HSS1 raw rotation angle

INT

HSS1 raw rotation angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

 

704

16

STR0 measured vector 0 X component

INT

STR0 measured vector 0 X component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

720

16

STR0 measured vector 0 Y component

INT

STR0 measured vector 0 Y component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

736

16

STR0 measured vector 0 Z component

INT

STR0 measured vector 0 Z component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

752

16

STR0 measured vector 1 X component

INT

STR0 measured vector 1 X component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

768

16

STR0 measured vector 1 Y component

INT

STR0 measured vector 1 Y component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

784

16

STR0 measured vector 1 Z component

INT

STR0 measured vector 1 Z component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

800

16

STR0 measured vector 2 X component

INT

STR0 measured vector 2 X component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

816

16

STR0 measured vector 2 Y component

INT

STR0 measured vector 2 Y component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

832

16

STR0 measured vector 2 Z component

INT

STR0 measured vector 2 Z component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

848

16

STR0 modelled vector 0 X component

INT

STR0 modelled vector 0 X component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

864

16

STR0 modelled vector 0 Y component

INT

STR0 modelled vector 0 Y component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

880

16

STR0 modelled vector 0 Z component

INT

STR0 modelled vector 0 Z component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

896

16

STR0 modelled vector 1 X component

INT

STR0 modelled vector 1 X component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

912

16

STR0 modelled vector 1 Y component

INT

STR0 modelled vector 1 Y component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

928

16

STR0 modelled vector 1 Z component

INT

STR0 modelled vector 1 Z component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

944

16

STR0 modelled vector 2 X component

INT

STR0 modelled vector 2 X component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

960

16

STR0 modelled vector 2 Y component

INT

STR0 modelled vector 2 Y component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

976

16

STR0 modelled vector 2 Z component

INT

STR0 modelled vector 2 Z component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

992

16

STR0 measured quaternion Q0 (sensor to IRC frame)

INT

STR0 measured quaternion Q0 (sensor to IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1008

16

STR0 measured quaternion Q1 (sensor to IRC frame)

INT

STR0 measured quaternion Q1 (sensor to IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1024

16

STR0 measured quaternion Q2 (sensor to IRC frame)

INT

STR0 measured quaternion Q2 (sensor to IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1040

16

STR0 measured quaternion Q3 (sensor to IRC frame)

INT

STR0 measured quaternion Q3 (sensor to IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1056

8

STR0 number of identified stars

UINT

STR0 number of identified stars

 

1064

16

STR1 measured vector 0 X component

INT

STR1 measured vector 0 X component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1080

16

STR1 measured vector 0 Y component

INT

STR1 measured vector 0 Y component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1096

16

STR1 measured vector 0 Z component

INT

STR1 measured vector 0 Z component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1112

16

STR1 measured vector 1 X component

INT

STR1 measured vector 1 X component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1128

16

STR1 measured vector 1 Y component

INT

STR1 measured vector 1 Y component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1144

16

STR1 measured vector 1 Z component

INT

STR1 measured vector 1 Z component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1160

16

STR1 measured vector 2 X component

INT

STR1 measured vector 2 X component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1176

16

STR1 measured vector 2 Y component

INT

STR1 measured vector 2 Y component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1192

16

STR1 measured vector 2 Z component

INT

STR1 measured vector 2 Z component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1208

16

STR1 modelled vector 0 X component

INT

STR1 modelled vector 0 X component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1224

16

STR1 modelled vector 0 Y component

INT

STR1 modelled vector 0 Y component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1240

16

STR1 modelled vector 0 Z component

INT

STR1 modelled vector 0 Z component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1256

16

STR1 modelled vector 1 X component

INT

STR1 modelled vector 1 X component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1272

16

STR1 modelled vector 1 Y component

INT

STR1 modelled vector 1 Y component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1288

16

STR1 modelled vector 1 Z component

INT

STR1 modelled vector 1 Z component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1304

16

STR1 modelled vector 2 X component

INT

STR1 modelled vector 2 X component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1320

16

STR1 modelled vector 2 Y component

INT

STR1 modelled vector 2 Y component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1336

16

STR1 modelled vector 2 Z component

INT

STR1 modelled vector 2 Z component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1352

16

STR1 measured quaternion Q0 (sensor to IRC frame)

INT

STR1 measured quaternion Q0 (sensor to IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1368

16

STR1 measured quaternion Q1 (sensor to IRC frame)

INT

STR1 measured quaternion Q1 (sensor to IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1384

16

STR1 measured quaternion Q2 (sensor to IRC frame)

INT

STR1 measured quaternion Q2 (sensor to IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1400

16

STR1 measured quaternion Q3 (sensor to IRC frame)

INT

STR1 measured quaternion Q3 (sensor to IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

 

1416

8

STR1 number of identified stars

UINT

STR1 number of identified stars

 

1424

32

GNSS Time integer seconds

UINT

GNSS Unix time integer seconds. (Unit of measure is [s])

 

1456

32

GNSS Time nanoseconds

UINT

GNSS Unix time fraction nanoseconds. (Unit of measure is [ns])

 

1488

32

Satellite position vector X component (GNSS frame)

INT

Satellite position vector X component (GNSS frame). (Unit of measure is [cm])

 

1520

32

Satellite position vector Y component (GNSS frame)

INT

Satellite position vector Y component (GNSS frame). (Unit of measure is [cm])

 

1552

32

Satellite position vector Z component (GNSS frame)

INT

Satellite position vector Z component (GNSS frame). (Unit of measure is [cm])

 

1584

32

Satellite velocity vector X component (GNSS frame)

INT

Satellite velocity vector X component (GNSS frame). (Unit of measure is [cm/s])

 

1616

32

Satellite velocity vector Y component (GNSS frame)

INT

Satellite velocity vector Y component (GNSS frame). (Unit of measure is [cm/s])

 

1648

32

Satellite velocity vector Z component (GNSS frame)

INT

Satellite velocity vector Z component (GNSS frame). (Unit of measure is [cm/s])

 

1680

32

ExtSensor0 raw measurement float 0

FLOAT

ExtSensor0 raw measurement float 0

 

1712

32

ExtSensor0 raw measurement float 1

FLOAT

ExtSensor0 raw measurement float 1

 

1744

32

ExtSensor0 raw measurement float 2

FLOAT

ExtSensor0 raw measurement float 2

 

1776

32

ExtSensor0 raw measurement float 3

FLOAT

ExtSensor0 raw measurement float 3

 

1808

32

ExtSensor0 raw measurement float 4

FLOAT

ExtSensor0 raw measurement float 4

 

1840

32

ExtSensor0 raw measurement float 5

FLOAT

ExtSensor0 raw measurement float 5

 

1872

32

ExtSensor1 raw measurement float 0

FLOAT

ExtSensor1 raw measurement float 0

 

1904

32

ExtSensor1 raw measurement float 1

FLOAT

ExtSensor1 raw measurement float 1

 

1936

32

ExtSensor1 raw measurement float 2

FLOAT

ExtSensor1 raw measurement float 2

 

1968

32

ExtSensor1 raw measurement float 3

FLOAT

ExtSensor1 raw measurement float 3

 

2000

32

ExtSensor1 raw measurement float 4

FLOAT

ExtSensor1 raw measurement float 4

 

2032

32

ExtSensor1 raw measurement float 5

FLOAT

ExtSensor1 raw measurement float 5

 

2064

32

RWL0 raw speed measurement

FLOAT

RWL0 raw speed measurement. (Unit of measure is [rpm])

 

2096

32

RWL1 raw speed measurement

FLOAT

RWL1 raw speed measurement. (Unit of measure is [rpm])

 

2128

32

RWL2 raw speed measurement

FLOAT

RWL2 raw speed measurement. (Unit of measure is [rpm])

 

2160

32

RWL3 raw speed measurement

FLOAT

RWL3 raw speed measurement. (Unit of measure is [rpm])

 

2192

1

FSS0 valid flag

BOOL

FSS0 valid flag

 

2193

1

FSS1 valid flag

BOOL

FSS1 valid flag

 

2194

1

FSS2 valid flag

BOOL

FSS2 valid flag

 

2195

1

FSS3 valid flag

BOOL

FSS3 valid flag

 

2196

1

CSS valid flag

BOOL

CSS valid flag

 

2197

1

MAG0 valid flag

BOOL

MAG0 valid flag

 

2198

1

MAG1 valid flag

BOOL

MAG1 valid flag

 

2199

1

GYR0 valid flag

BOOL

GYR0 valid flag

 

2200

1

GYR1 valid flag

BOOL

GYR1 valid flag

 

2201

1

HSS0 valid flag

BOOL

HSS0 valid flag

 

2202

1

HSS1 valid flag

BOOL

HSS1 valid flag

 

2203

1

STR0 valid flag

BOOL

STR0 valid flag

 

2204

1

STR1 valid flag

BOOL

STR1 valid flag

 

2205

1

GNSS valid flag

BOOL

GNSS valid flag

 

2206

1

GNSS new nav message flag

BOOL

GNSS new flag

 

2207

1

ExtSensor0 valid flag

BOOL

ExtSensor0 valid flag

 

2208

1

ExtSensor1 valid flag

BOOL

ExtSensor1 valid flag

 

2209

1

RWL0 valid flag

BOOL

RWL0 valid flag

 

2210

1

RWL1 valid flag

BOOL

RWL1 valid flag

 

2211

1

RWL2 valid flag

BOOL

RWL2 valid flag

 

2212

1

RWL3 valid flag

BOOL

RWL3 valid flag

 

Table 47: OpenLoopCommandRwl Command Format

ID

74

Parameters Length (bytes)

16

Description

OpenLoopCommandRwl

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

RWL0 open-loop speed command

FLOAT

RWL0 open-loop speed command

 

32

32

RWL1 open-loop speed command

FLOAT

RWL1 open-loop speed command

 

64

32

RWL2 open-loop speed command

FLOAT

RWL2 open-loop speed command

 

96

32

RWL3 open-loop speed command

FLOAT

RWL3 open-loop speed command

 

Table 48: OpenLoopCommandHxyzRW Command Format

ID

76

Parameters Length (bytes)

12

Description

OpenLoopCommandHxyzRW

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

X-momentum open-loop speed command

FLOAT

X-momentum open-loop speed command. (Unit of measure is [Nm])

 

32

32

Y-momentum open-loop speed command

FLOAT

Y-momentum open-loop speed command. (Unit of measure is [Nm])

 

64

32

Z-momentum open-loop speed command

FLOAT

Z-momentum open-loop speed command. (Unit of measure is [Nm])

 

Table 49: Mag sensing element configuration Command Format

ID

77

Parameters Length (bytes)

1

Description

Mag sensing element (primary/redundant) configuration

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

1

MAG0 sensing element

ENUM

MAG0 sensing element (primary/redundant). Possible values are in Table 50

 

1

1

MAG1 sensing element

ENUM

MAG1 sensing element (primary/redundant). Possible values are in Table 50

 

Table 50: MagSensingElementSelect Enumeration Values

Numeric Value

Name

Description

0

Primary

Use the primary magnetometer sensing element on the CubeMag

1

Redundant

Use the redundant magnetometer sensing element on the CubeMag

 

Table 51: Data Frame Command Format

ID

78

Parameters Length (bytes)

258

Description

A single frame of arbitrary data

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

Frame size

UINT

The effective frame size - number of bytes in FrameBytes populated with data

 

16

2048

Frame bytes

ARRAY

frame bytes

 

Table 52: Transfer Frame Command Format

ID

79

Parameters Length (bytes)

2

Description

Image frame to or from buffer

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

Next Frame Number

UINT

Number of next frame to be transferred

 

Table 53: File Transfer Setup Command Format

ID

80

Parameters Length (bytes)

141

Description

Setup a file transfer

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Op Code

ENUM

Operation to perform. Possible values are in Table 54

 

8

8

File

ENUM

File to target. Possible values are in Table 55

 

16

8

Node

ENUM

OpCode = Upgrade: Node to upgrade in conjunction with SerialInt. Possible values are in Table 56

 

24

32

Serial Number Integer

UINT

OpCode = Upgrade: Serial Number Integer of node to upgrade in conjunction with Node

 

56

8

Program

ENUM

OpCode = Upgrade: The Program Type to upgrade with. Possible values are in Table 57

 

64

32

File Size

UINT

Size of target file: Only used to confirm setup.. (Unit of measure is [Bytes])

 

96

4

Force Port

ENUM

OpCode = Upgrade: Force that the node on this port is upgraded In the event that the node is not discoverable.. Possible values are in Table 58

 

100

4

PADDING

Reserved.

 

104

1024

File Meta Data

ARRAY

CubeSpace File Meta Data. May be less than allocated size (padding required)

 

Table 54: FtpOpCode Enumeration Values

Numeric Value

Name

Description

0

None

No operation

1

Cancel Transfer

Cancel the Current Transfer

2

Upload

Upload a File

3

Upgrade

Perform Upgrade with file

4

Erase

Erase the file

5

Info

Retrieve file information and cache it without other operations

6

Format

Format the filesystem. Effectively erase all files.

 

Table 55: FtpFiles Enumeration Values

Numeric Value

Name

Description

0

Invalid

Invalid File

1

BaseBl CC .bin

Base Bootloader for CubeComputer Image Binary

2

BaseBl R5SB .bin

Base Bootloader for R5 nodes - single bank Image Binary

3

BaseBl 52 .bin

Base Bootloader for 52 nodes Image Binary

4

CubeWheel .bin

CubeWheel Image Binary

5

CubeStar .bin

CubeStar Image Binary

6

CubeSense .bin

CubeSense Image Binary

7

CubeMag Deploy .bin

CubeMag Deploy Image Binary

8

CubeMag Compact .bin

CubeMag Deploy Image Binary

9

CubeAuriga .bin

CubeAuriga Image Binary

10

CubeIr .bin

CubeIR Image Binary

11

CubeNodeSLT .bin

CubeNode-SLT Image Binary

12

CubeNodePST3S .bin

CubeNode-PST3S Image Binary

13

CubeNodeNSSRWL .bin

CubeNode-NSSRWL Image Binary

14

CubeWheel0 .cfg

CubeWheel-0 Config Binary

15

CubeWheel1 .cfg

CubeWheel-1 Config Binary

16

CubeWheel2 .cfg

CubeWheel-2 Config Binary

17

CubeWheel3 .cfg

CubeWheel-3 Config Binary

18

CubeWheel4 .cfg

CubeWheel-4 Config Binary

19

CubeStar0 .cfg

CubeStar-0 Config Binary

20

CubeStar1 .cfg

CubeStar-1 Config Binary

21

CubeStar2 .cfg

CubeStar-2 Config Binary

22

CubeStar3 .cfg

CubeStar-3 Config Binary

23

CubeSense0 .cfg

CubeSense-0 Config Binary

24

CubeSense1 .cfg

CubeSense-1 Config Binary

25

CubeSense2 .cfg

CubeSense-2 Config Binary

26

CubeSense3 .cfg

CubeSense-3 Config Binary

27

CubeMag0 Deploy .cfg

CubeMag-0 Deploy Config Binary

28

CubeMag1 Deploy .cfg

CubeMag-1 Deploy Config Binary

29

CubeMag0 Compact .cfg

CubeMag-0 Compact Config Binary

30

CubeMag1 Compact .cfg

CubeMag-1 Compact Config Binary

31

CubeAuriga0 .cfg

CubeAuriga-0 Config Binary

32

CubeAuriga1 .cfg

CubeAuriga-1 Config Binary

33

CubeIr0 .cfg

CubeIr-0 Config Binary

34

CubeIr1 .cfg

CubeIr-1 Config Binary

35

CubeNodeSlt0 .cfg

CubeNode-SLT-0 Config Binary

36

CubeNodePst3s0 .cfg

CubeNode-PST3S-0 Config Binary

37

CubeNodePst3s1 .cfg

CubeNode-PST3S-1 Config Binary

38

CubeNodeNssRwl0 .cfg

CubeNode-NSSRWL-0 Config Binary

39

CubeNodeNssRwl1 .cfg

CubeNode-NSSRWL-1 Config Binary

40

CubeNodeNssRwl2 .cfg

CubeNode-NSSRWL-2 Config Binary

41

CubeNodeNssRwl3 .cfg

CubeNode-NSSRWL-3 Config Binary

42

CubeNodeQuadPST3S .bin

CubeNode-PST3S Image Binary

43

CubeNodeQuadPst3s0 .cfg

CubeNodeQuad-PST3S-0 Config Binary

44

CubeNodeQuadNSSRWL .bin

CubeNodeQuad-NSSRWL Image Binary

45

CubeNodeQuadNssRwl0 .cfg

CubeNodeQuad-NSSRWL-0 Config Binary

46

CubeNodeQuadLITEFUFORS .bin

CubeNodeQuad-LITEFUFORS Image Binary

47

CubeNodeQuadLitefufors0 .cfg

CubeNode-LITEFUFORS-0 Config Binary

48

CubeNodeQuadLitefufors1 .cfg

CubeNode-LITEFUFORS-1 Config Binary

 

Table 56: NodeType Enumeration Values

Numeric Value

Name

Description

0

Invalid

Invalid Node Type

1

CubeComputer

CubeComputer Type - version independant

2

CubeSense

CubeSense Type - version independant

3

CubeWheel

CubeWheel Type - version independant

4

CubeIr

CubeIR Type - version independant

5

CubeMag Deploy

CubeMag Deploy Type - version independant

6

CubeMag Compact

CubeMag Compact Type - version independant

7

CubeStar

CubeStar Type - version independant

8

CubeAuriga

CubeAuriga Type - version independant

9

CubeNode

CubeNode General Type - version independant

10

CubeNode-SLT

CubeNode SLT Type - version independant

11

CubeNode-PST3S

CubeNode PST3S Type - version independant

12

CubeNode-NSSRWL

CubeNode NSSRWL Type - version independant

16

CubeNodeQuad

CubeNodeQuad General Type - version independant

17

CubeNodeQuad-PST3S

CubeNodeQuad PST3S Type - version independant

18

CubeNodeQuad-NSSRWL

CubeNodeQuad NSSRWL Type - version independant

19

CubeNodeQuad-LITEFUFORS

CubeNodeQuad LITEFUFORS Type - version independant

 

Table 57: ProgramType Enumeration Values

Numeric Value

Name

Description

0

Invalid

Invalid Program Type

1

control-program

control-program primary product application

4

flash-bootloader

cube-computer flash-bootloader Bootloader application

5

health-check

health-check Health Check application

 

Table 58: NodePort Enumeration Values

Numeric Value

Name

Description

0

None

No port. Use the value if the Node Port is not relevent

1

Wheel 1

Wheel 1 Port

2

Wheel 2

Wheel 2 Port

3

Wheel 3

Wheel 3 Port

4

Wheel 4

Wheel 4 Port

5

Sensor 1

Sensor 1 Port

6

Sensor 2

Sensor 2 Port

7

Sensor 3

Sensor 3 Port

8

Sensor 4

Sensor 4 Port

9

Sensor 5

Sensor 5 Port

10

Sensor 6

Sensor 6 Port

11

Sensor 7

Sensor 7 Port

12

Sensor 8

Sensor 8 Port

 

Table 59: Pass Through Command Format

ID

99

Parameters Length (bytes)

1

Description

TCTLM Passthrough settings

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Target Node

ENUM

Target Node. Possible values are in Table 60

 

Table 60: AbstractNode Enumeration Values

Numeric Value

Name

Description

0

Invalid

Invalid Abstract Node

1

Computer

CubeComputer

2

Str0

Star tracker 0

3

Str1

Star tracker 1

4

Fss0

Fine sun sensor 0

5

Fss1

Fine sun sensor 1

6

Fss2

Fine sun sensor 2

7

Fss3

Fine sun sensor 3

8

Hss0

Horizon sun sensor 0

9

Hss1

Horizon sun sensor 1

10

Mag0

Magnetometer sensor 0

11

Mag1

Magnetometer sensor 1

12

Ext0

External sensor 0

13

Ext1

External sensor 1

14

Rwl0

Reaction wheel 0

15

Rwl1

Reaction wheel 1

16

Rwl2

Reaction wheel 2

17

Rwl3

Reaction wheel 3

18

Rwl4

Reaction wheel 4

19

ExtGyr0

External gyro 0

20

ExtGyr1

External gyro 1

21

CQ0

CubeNode-Quad 0 (internal/reporting use only)

22

CQ1

CubeNode-Quad 1 (internal/reporting use only)

23

CQ2

CubeNode-Quad 2 (internal/reporting use only)

24

CQ3

CubeNode-Quad 3 (internal/reporting use only)

 

Table 61: Port Map Command Format

ID

111

Parameters Length (bytes)

120

Description

This telemetry describes the nodes that have been discovered i.e. connected to CubeConnect

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Node Type: Sensor 1

ENUM

Sensor 1 port - Node type identifier. Possible values are in Table 56

 

8

8

Abstract Node Type: Sensor 1

ENUM

Sensor 1 port - Abstract Node type identifier. Possible values are in Table 60

 

16

32

Serial Number Integer: Sensor 1

UINT

Sensor 1 port - Serial Number Integer Respresentation

 

48

32

Address: Sensor 1

UINT

Sensor 1 port - CAN Address

 

80

8

Node Type: Sensor 2

ENUM

Sensor 2 port - Node type identifier. Possible values are in Table 56

 

88

8

Abstract Node Type: Sensor 2

ENUM

Sensor 2 port - Abstract Node type identifier. Possible values are in Table 60

 

96

32

Serial Number Integer: Sensor 2

UINT

Sensor 2 port - Serial Number Integer Respresentation

 

128

32

Address: Sensor 2

UINT

Sensor 2 port - CAN Address

 

160

8

Node Type: Sensor 3

ENUM

Sensor 3 port - Node type identifier. Possible values are in Table 56

 

168

8

Abstract Node Type: Sensor 3

ENUM

Sensor 3 port - Abstract Node type identifier. Possible values are in Table 60

 

176

32

Serial Number Integer: Sensor 3

UINT

Sensor 3 port - Serial Number Integer Respresentation

 

208

32

Address: Sensor 3

UINT

Sensor 3 port - CAN Address

 

240

8

Node Type: Sensor 4

ENUM

Sensor 4 port - Node type identifier. Possible values are in Table 56

 

248

8

Abstract Node Type: Sensor 4

ENUM

Sensor 4 port - Abstract Node type identifier. Possible values are in Table 60

 

256

32

Serial Number Integer: Sensor 4

UINT

Sensor 4 port - Serial Number Integer Respresentation

 

288

32

Address: Sensor 4

UINT

Sensor 4 port - CAN Address

 

320

8

Node Type: Sensor 5

ENUM

Sensor 5 port - Node type identifier. Possible values are in Table 56

 

328

8

Abstract Node Type: Sensor 5

ENUM

Sensor 5 port - Abstract Node type identifier. Possible values are in Table 60

 

336

32

Serial Number Integer: Sensor 5

UINT

Sensor 5 port - Serial Number Integer Respresentation

 

368

32

Address: Sensor 5

UINT

Sensor 5 port - CAN Address

 

400

8

Node Type: Sensor 6

ENUM

Sensor 6 port - Node type identifier. Possible values are in Table 56

 

408

8

Abstract Node Type: Sensor 6

ENUM

Sensor 6 port - Abstract Node type identifier. Possible values are in Table 60

 

416

32

Serial Number Integer: Sensor 6

UINT

Sensor 6 port - Serial Number Integer Respresentation

 

448

32

Address: Sensor 6

UINT

Sensor 6 port - CAN Address

 

480

8

Node Type: Sensor 7

ENUM

Sensor 7 port - Node type identifier. Possible values are in Table 56

 

488

8

Abstract Node Type: Sensor 7

ENUM

Sensor 7 port - Abstract Node type identifier. Possible values are in Table 60

 

496

32

Serial Number Integer: Sensor 7

UINT

Sensor 7 port - Serial Number Integer Respresentation

 

528

32

Address: Sensor 7

UINT

Sensor 7 port - CAN Address

 

560

8

Node Type: Sensor 8

ENUM

Sensor 8 port - Node type identifier. Possible values are in Table 56

 

568

8

Abstract Node Type: Sensor 8

ENUM

Sensor 8 port - Abstract Node type identifier. Possible values are in Table 60

 

576

32

Serial Number Integer: Sensor 8

UINT

Sensor 8 port - Serial Number Integer Respresentation

 

608

32

Address: Sensor 8

UINT

Sensor 8 port - CAN Address

 

640

8

Node Type: Wheel 1

ENUM

Wheel 1 port - Node type identifier. Possible values are in Table 56

 

648

8

Abstract Node Type: Wheel 1

ENUM

Wheel 1 port - Abstract Node type identifier. Possible values are in Table 60

 

656

32

Serial Number Integer: Wheel 1

UINT

Wheel 1 port - Serial Number Integer Respresentation

 

688

32

Address: Wheel 1

UINT

Wheel 1 port - CAN Address

 

720

8

Node Type: Wheel 2

ENUM

Wheel 2 port - Node type identifier. Possible values are in Table 56

 

728

8

Abstract Node Type: Wheel 2

ENUM

Wheel 2 port - Abstract Node type identifier. Possible values are in Table 60

 

736

32

Serial Number Integer: Wheel 2

UINT

Wheel 2 port - Serial Number Integer Respresentation

 

768

32

Address: Wheel 2

UINT

Wheel 2 port - CAN Address

 

800

8

Node Type: Wheel 3

ENUM

Wheel 3 port - Node type identifier. Possible values are in Table 56

 

808

8

Abstract Node Type: Wheel 3

ENUM

Wheel 3 port - Abstract Node type identifier. Possible values are in Table 60

 

816

32

Serial Number Integer: Wheel 3

UINT

Wheel 3 port - Serial Number Integer Respresentation

 

848

32

Address: Wheel 3

UINT

Wheel 3 port - CAN Address

 

880

8

Node Type: Wheel 4

ENUM

Wheel 4 port - Node type identifier. Possible values are in Table 56

 

888

8

Abstract Node Type: Wheel 4

ENUM

Wheel 4 port - Abstract Node type identifier. Possible values are in Table 60

 

896

32

Serial Number Integer: Wheel 4

UINT

Wheel 4 port - Serial Number Integer Respresentation

 

928

32

Address: Wheel 4

UINT

Wheel 4 port - CAN Address

 

Table 62: Unsolicited Telemetry Message Setup Command Format

ID

112

Parameters Length (bytes)

17

Description

Inclusion bitmask for unsolicited telemetry

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

4

UART Tlm Return Interval

ENUM

Indicate how frequently unsolicited telemetry is transmitted on the UART interface. Possible values are in Table 63

 

4

4

UART2 Tlm Return Interval

ENUM

Indicate how frequently unsolicited telemetry is transmitted on the UART2 interface. Possible values are in Table 63

 

8

4

CAN Tlm Return Interval

ENUM

Indicate how frequently unsolicited telemetry is transmitted on the CAN interface. Possible values are in Table 63

 

12

4

Reserved

PADDING

Reserved.

 

16

40

UART TLM ID inclusion bitmask

ARRAY

Indicate which TLM IDs must be included in the transfered Telemetry on the UART interface

 

56

40

UART2 TLM ID inclusion bitmask

ARRAY

Indicate which TLM IDs must be included in the transfered Telemetry on the UART2 interface

 

96

40

CAN TLM ID inclusion bitmask

ARRAY

Indicate which TLM IDs must be included in the transfered Telemetry on the CAN interface

 

Table 63: TlmLogReturnIntervalValues Enumeration Values

Numeric Value

Name

Description

0

Return interval 200ms

Apply 200ms return interval

1

Return interval 1s

Apply 1s return interval

2

Return interval 2s

Apply 2s return interval

3

Return interval 3s

Apply 3s return interval

4

Return interval 4s

Apply 4s return interval

5

Return interval 5s

Apply 5s return interval

6

Return interval 10s

Apply 10s return interval

7

Return interval 20s

Apply 20s return interval

8

Return interval 50s

Apply 50s return interval

9

Return interval 100s

Apply 100s return interval

 

Table 64: Reset Image File Info Index Command Format

ID

113

Parameters Length (bytes)

0

Description

Resets image file info index

 

Table 65: Set request image log transfer setup Command Format

ID

114

Parameters Length (bytes)

6

Description

Set request image log transfer setup

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Operation Code

ENUM

Operation code.. Possible values are in Table 66

 

8

8

Target Node Type

ENUM

Target node type for image storage and download direct operation codes.. Possible values are in Table 60

 

16

32

File Handle

UINT

Target file for download and info operation codes.

 

Table 66: ImageTransferOpCode Enumeration Values

Numeric Value

Name

Description

0

CaptureStore

Capture an image from the target node and store it on CubeComputer

1

CaptureDownload

Capture an image from the target node and immediately download it without storing it on CubeComputer

2

Download

Download an image stored on CubeComputer

3

InfoReset

Reset the file info request to start from the first image file

 

Table 67: Set a dummy event Command Format

ID

115

Parameters Length (bytes)

11

Description

Set a dummy event to be stored in the event log

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

2

Event class

ENUM

This field contains the class of the event. Possible values are in Table 68

 

2

5

Event source

ENUM

This field contains the source of the event. Possible values are in Table 60

 

7

1

Reserved

PADDING

Reserved.

 

8

16

Event type

UINT

This field contains the type of the event

 

24

64

Event data

ARRAY

This field contains the data of the event

 

Table 68: EventClass Enumeration Values

Numeric Value

Name

Description

0

Event class info

Event class info

1

Event class warning minor

Event class warning minor

2

Event class warning major

Event class warning major

3

Event class critical

Event class critical

 

Table 69: Unsolicited Event Message Setup Command Format

ID

116

Parameters Length (bytes)

2

Description

Setup unsolicited event messages

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

1

UART Info Events

BOOL

Output Info class events to UART

 

1

1

UART Minor Warning Events

BOOL

Output minor warning class events to UART

 

2

1

UART Major Warning Events

BOOL

Output major warning class events to UART

 

3

1

UART Critical Events

BOOL

Output critical class events to UART2

 

4

1

UART2 Info Events

BOOL

Output Info class events to UART2

 

5

1

UART2 Minor Warning Events

BOOL

Output minor warning class events to UART2

 

6

1

UART2 Major Warning Events

BOOL

Output major warning class events to UART2

 

7

1

UART2 Critical Events

BOOL

Output critical class events to UART2

 

8

1

CAN Info Events

BOOL

Output Info class events to CAN

 

9

1

CAN Minor Warning Events

BOOL

Output minor warning class events to CAN

 

10

1

CAN Major Warning Events

BOOL

Output major warning class events to CAN

 

11

1

CAN Critical Events

BOOL

Output critical class events to CAN

 

Table 70: Set request telemetry log transfer setup Command Format

ID

117

Parameters Length (bytes)

23

Description

Set request telemetry log transfer setup

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Filter Type

ENUM

Filter type to use when reading tlm logs. Possible values are in Table 71

 

8

32

Unix start time

UINT

Indicate the unix start time in seconds. All entries with a timestamp after this time will be included in the transfer.

 

40

32

Unix end time

UINT

Indicate the unix start end in seconds. All entries with a timestamp before this time will be included in the transfer.

 

72

32

Number of Entries

UINT

If using time next-x or first/last-x or counter next-x filter - indicate the number of entries to transfer.

 

104

32

Write Counter

UINT

If using counter next-x filter - indicate the reference write counter value.

 

136

4

Tlm Log Return Interval

ENUM

Indicate how many samples to exclude between transferred samples. Possible values are in Table 63

 

140

4

Reserved

PADDING

Reserved.

 

144

40

Log ID inclusion bitmask

ARRAY

Indicate which log IDs must be included in the transfered Telemetry Log

 

Table 71: LogReadFilterType Enumeration Values

Numeric Value

Name

Description

0

No Filter

Include all entries

1

Time Span

Filter/read entries logged between two timestamps

2

Time Next X

Filter/read the next x entries logged following the sepecifed start timestamp

3

First X

Filter/read the first x entries logged

4

Last X

Filter/read the last x entries logged

5

Counter Next X

Filter/read the next x entries logged following the specified write counter

 

Table 72: Initiate Filtered Event Log Transfer Command Format

ID

120

Parameters Length (bytes)

20

Description

Initiate event log transfer by specifying time range and data filter

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Filter Type

ENUM

Filter type to use when reading event logs. Possible values are in Table 71

 

8

32

Unix start time

UINT

If using time span/next x filter - indicate the unix start time in seconds. All entries with a timestamp after this time will be included in the transfer.

 

40

32

Unix end time

UINT

If using time span filter - indicate the unix end time in seconds. All entries with a timestamp before this time will be included in the transfer.

 

72

32

Number of Entries

UINT

If using time next-x or first/last-x or counter next-x filter - indicate the number of entries to transfer.

 

104

32

Write Counter

UINT

If using counter next-x filter - indicate the reference write counter value.

 

136

1

Include critical events

BOOL

Include critical events in transfer Event Log

 

137

1

Include major warning events

BOOL

Include major warning events in transfer Event Log

 

138

1

Include minor warning events

BOOL

Include minor warning events in transfer Event Log

 

139

1

Include info events

BOOL

Include info events in transfer Event Log

 

140

1

Include CubeComputer

BOOL

Include the CubeComputer as a source for events

 

141

1

Include RWL 0

BOOL

Include the RWL 0 as a source for events

 

142

1

Include RWL 1

BOOL

Include the RWL 1 as a source for events

 

143

1

Include RWL 2

BOOL

Include the RWL 2 as a source for events

 

144

1

Include RWL 3

BOOL

Include the RWL 3 as a source for events

 

145

1

Include Fss 0

BOOL

Include the Fss 0 as a source for events

 

146

1

Include Fss 1

BOOL

Include the Fss 1 as a source for events

 

147

1

Include Fss 2

BOOL

Include the Fss 2 as a source for events

 

148

1

Include Fss 3

BOOL

Include the Fss 3 as a source for events

 

149

1

Include Hss 0

BOOL

Include the Hss 0 as a source for events

 

150

1

Include Hss 1

BOOL

Include the Hss 1 as a source for events

 

151

1

Include Str 0

BOOL

Include the Str 0 as a source for events

 

152

1

Include Str 1

BOOL

Include the Str 1 as a source for events

 

153

1

Include Mag 0

BOOL

Include the Mag 0 as a source for events

 

154

1

Include Mag 1

BOOL

Include the Mag 1 as a source for events

 

155

1

Include External 0

BOOL

Include the External 0 as a source for events

 

156

1

Include External 1

BOOL

Include the External 1 as a source for events

 

157

3

Reserved

PADDING

Reserved.

 

Table 73: Format all logs Command Format

ID

122

Parameters Length (bytes)

1

Description

Format all logs

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Magic Number

ENUM

Magic number to avoid erroneous formats. Possible values are in Table 74

 

Table 74: EraseMagicNumbers Enumeration Values

Numeric Value

Name

Description

57

Erase the Telemetry log

Erase the Telemetry log

117

Erase the Event log

Erase the Event log

195

Erase the Image log

Erase the Image log

 

1.1.1     Telemetry

Table 75: List of Telemetry Frames

ID

Name

Description

Length (bytes)

General

128

Identification

Identification information for this node (Legacy definition - use Identification2 instead) - Table 76

8

129

Serial Number

Unique serial number of the CubeSpace Component - Table 78

70

130

Error Log Index

Describes the index of the error log that will be read when calling GetErrorLogEntry - Table 80

5

131

Error Log Entry

Error Log Entry - Table 81

8

132

Error Log Settings

Error Log Settings - Table 82

1

133

Current Unix time

Current Unix time - Table 83

8

134

Persist Config Diagnostics

Diagnostics data for config persistence - Table 84

6

135

Communication Status

Communication Status - Table 87

32

136

Version

Firmware Version - Table 88

22

137

Boot Status

State information about the device boot process - Table 90

3

138

Telecommand Acknowledge

Used with the I2C protocol to receive Telecommand Ack/Nack - Table 93

4

139

Common Error Codes

Error codes common to all applications - Table 95

16

140

Identification2

Identification information for this node - Table 96

21

159

CubeNode-Quad PortMap

The configured port map of all CubeNode-Quads - Table 97

36

160

Raw CubeStar telemetry

Raw CubeStar telemetry - Table 98

28

161

File Transfer Status

File Transfer Status - Table 102

13

162

Orbit mode

Orbit mode - Table 105

1

163

Current execution point

Current execution point - Table 106

1

164

HIL telemetry

HIL telemetry - Table 108

107

165

Health telemetry for CubeStar

Health telemetry for CubeStar star camera - Table 109

34

166

Health telemetry for CubeNode PST3S

Health telemetry for CubeNode PST3S - Table 110

18

167

Health telemetry for CubeMag magnetometer

Health telemetry for CubeMag magnetometer - Table 111

30

168

Health telemetry for CubeSense Sun

Health telemetry for CubeSense Sun - Table 112

44

169

Torquer Current measurements

Current measurements - Table 113

50

170

Raw CubeSense Sun telemetry

Raw CubeSense Sun telemetry - Table 115

33

171

Raw external sensor telemetry

Raw external sensor telemetry - Table 118

57

172

Controller telemetry

Controller telemetry - Table 119

114

173

Backup estimator telemetry

Backup estimator telemetry - Table 120

71

174

Models telemetry

Models telemetry - Table 121

85

175

Calibrated GNSS sensor telemetry

Calibrated GNSS sensor telemetry - Table 122

41

176

Calibrated HSS sensor telemetry

Calibrated HSS sensor telemetry - Table 123

21

177

Calibrated MAG sensor telemetry

Calibrated MAG sensor telemetry - Table 124

21

178

Calibrated FSS sensor telemetry

Calibrated FSS sensor telemetry - Table 125

33

179

Raw CubeSense Earth telemetry

Raw CubeSense Earth telemetry - Table 126

21

180

Raw MAG sensor telemetry

Raw MAG sensor telemetry - Table 129

21

181

Reference commands for controllers

Reference commands for controllers - Table 130

36

182

OpenLoopCommandMtq

OpenLoopCommandMtq - Table 131

6

183

Power state

Power state - Table 132

20

184

ADCS run mode

ADCS run mode - Table 133

1

185

Control mode

Control mode - Table 134

3

186

Wheel configuration

Wheel configuration - Table 135

62

187

Target satellite orbit parameter configuration

Satellite orbit parameter configuration - Table 136

64

188

Augmented SGP4 configuration

Augmented SGP4 configuration - Table 137

13

189

ADCS satellite configuration

ADCS satellite configuration - Table 138

42

190

ADCS controller configuration

ADCS controller configuration - Table 139

86

191

Mag0 magnetometer in-orbit calibration configuration

Mag0 magnetometer in-orbit calibration configuration - Table 140

24

192

Default mode configuration

Default mode configuration - Table 141

4

193

Mounting configuration

Mounting configuration - Table 142

98

194

Mag1 magnetometer in-orbit calibration configuration

Mag1 magnetometer in-orbit calibration configuration - Table 143

24

195

ADCS estimator configuration

ADCS estimator configuration - Table 144

40

196

Satellite orbit parameter configuration

Satellite orbit parameter configuration - Table 145

64

197

Node selection configuration

Node selection configuration - Table 146

8

198

Magnetorquer configuration

Magnetorquer configuration - Table 147

20

199

Estimation mode

Estimation mode - Table 148

2

200

ADCS operational state

ADCS operational state - Table 149

1

201

Simulation raw sensor telemetry

Simulation raw sensor telemetry - Table 150

277

202

OpenLoopCommandRwl

OpenLoopCommandRwl - Table 151

16

203

Raw CSS sensor telemetry

Raw CSS sensor telemetry - Table 152

19

204

Raw GYR sensor telemetry

Raw GYRO sensor telemetry - Table 153

33

205

Raw RWL sensor telemetry

Raw RWL sensor telemetry - Table 154

25

206

Calibrated CSS sensor telemetry

Calibrated CSS sensor telemetry - Table 155

15

207

Calibrated GYR sensor telemetry

Calibrated GYRO sensor telemetry - Table 156

57

208

Calibrated STR sensor telemetry

Calibrated STR sensor telemetry - Table 157

81

209

Calibrated RWL sensor telemetry

Calibrated RWL sensor telemetry - Table 158

33

210

Main estimator telemetry

Main estimator telemetry - Table 159

71

211

Main estimator high-resolution telemetry

Main estimator high-resolution telemetry - Table 160

36

212

Raw GNSS sensor telemetry

Raw GNSS sensor telemetry - Table 161

52

213

Raw PST3S star tracker telemetry

Raw PST3S star tracker telemetry - Table 162

134

214

ACP execution telemetry

ACP execution telemetry - Table 172

26

215

OpenLoopCommandHxyzRW

OpenLoopCommandHxyzRW - Table 173

12

216

CubeComputer Health

Health telemetry for ADCS CubeComputer - Table 174

40

217

Health telemetry for CubeSense Earth

Health telemetry for CubeSense Earth - Table 175

20

218

Health telemetry for Reaction Wheels

Health telemetry for reaction wheels - Table 176

32

219

Data Frame

A single frame of arbitrary data - Table 177

258

220

Image Frame Information

Information about the current frame in memory - Table 178

4

221

Mag sensing element configuration

Mag sensing element (primary/redundant) configuration - Table 179

1

225

Health telemetry for CubeNode NSSRWL

Health telemetry for CubeNode NSSRWL - Table 180

44

226

Raw NSSRWL sensor telemetry

Raw NSSRWL sensor telemetry - Table 181

53

227

Telemtry log inclusion masks

Get the Telemtry log inclusion masks - Table 182

10

228

Unsolicited Telemetry Message Setup

Inclusion bitmask for unsolicited telemetry - Table 183

17

229

Pass Through

TCTLM Passthrough settings - Table 184

1

230

Component Error Codes

Error codes common to CubeComputer bootloader and control-program - Table 185

24

231

Image File Info

Stored image file information - Table 186

14

232

Image Transfer Status

Image Transfer Status - Table 187

15

233

Unsolicited Event Message Setup

Setup unsolicited event messages - Table 189

2

234

Get the Telemtry log status response

Get the Telemtry log status response - Table 190

19

235

Get the Event log status response

Get the Event log status response - Table 192

41

236

RAW LITEF uFORS sensor telemetry

Raw LITEF uFORS sensor telemetry - Table 194

38

237

Node Initialization States

Current initialization state of each node - Table 195

10

238

Expected Nodes

Lists the expected nodes config item - Table 197

72

239

Port Map

This telemetry describes the nodes that have been discovered i.e. connected to CubeConnect - Table 198

120

240

Port Diagnostics

Diagnostics relating to the inernal CubeConnect interface port - Table 199

65

241

File Transfer Setup

Setup a file transfer - Table 200

141

242

File Info

Cached file information after calling FileTransferSetup - Table 201

105

243

Health telemetry for CubeNode LITEFUFORS

Health telemetry for CubeNode LITEFUFORS - Table 204

26

 

Table 76: Identification Telemetry Format

ID

128

Frame Length (bytes)

8

Description

Identification information for this node (Legacy definition - use Identification2 instead)

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

4

Node type identifier

ENUM

Node type identifier. Possible values are in Table 77

 

4

4

Program type identifier

ENUM

Program type identifier. Possible values are in Table 57

 

8

8

Interface version

UINT

Interface version

 

16

8

Firmware version (Major)

UINT

Firmware version (Major)

 

24

8

Firmware version (Minor)

UINT

Firmware version (Minor)

 

32

16

Runtime (seconds)

UINT

Seconds since processor start-up

 

48

16

Runtime (milliseconds)

UINT

Milliseconds (after the integer second) since processor start-up

 

Table 77: NodeTypeLegacy Enumeration Values

Numeric Value

Name

Description

0

Invalid

Invalid Node Type

1

CubeComputer

CubeComputer Type - version independant

2

CubeSense

CubeSense Type - version independant

3

CubeWheel

CubeWheel Type - version independant

4

CubeIr

CubeIR Type - version independant

5

CubeMag Deploy

CubeMag Deploy Type - version independant

6

CubeMag Compact

CubeMag Compact Type - version independant

7

CubeStar

CubeStar Type - version independant

8

CubeAuriga

CubeAuriga Type - version independant

9

CubeNode

CubeNode General Type - version independant

10

CubeNode-SLT

CubeNode SLT Type - version independant

11

CubeNode-PST3S

CubeNode PST3S Type - version independant

12

CubeNode-NSSRWL

CubeNode NSSRWL Type - version independant

15

NodeTypeLegacyExtended

Marks the end of the 4-bit legacy enum - Make use of a different telemetry that uses the NodeType enum (Identification2)

 

Table 78: Serial Number Telemetry Format

ID

129

Frame Length (bytes)

70

Description

Unique serial number of the CubeSpace Component

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

256

OTP Serial

STRING

OTP ASCII string of chars denoting the serial number of this module

 

256

256

Config Serial

STRING

Config ASCII string of chars denoting the serial number of this module

 

512

8

Node type identifier

ENUM

Node type identifier sourced from active serial. Possible values are in Table 56

 

520

32

Serial Integer

UINT

Integer representation of the integer portion the serial number of this module sourced from active serial

 

552

8

Active Serial Number

ENUM

Which area the serial number (OTP/Config) is being used internally. Possible values are in Table 79

 

Table 79: SerialSource Enumeration Values

Numeric Value

Name

Description

0

OTP

Serial number sourced from OTP

1

Config

Serial number sourced from Config

 

Table 80: Error Log Index Telemetry Format

ID

130

Frame Length (bytes)

5

Description

Describes the index of the error log that will be read when calling GetErrorLogEntry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Error Log Index Reference

ENUM

0 = Head, 1 = Tail. Possible values are in Table 6

 

8

16

Error Log Index Value

UINT

Error Log Index Value ~ Relative to ErrorLogIndexReference

 

24

16

Error Log Entries

UINT

Number of Error Log Entries Present

 

Table 81: Error Log Entry Telemetry Format

ID

131

Frame Length (bytes)

8

Description

Error Log Entry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Error Log Entry Timestamp

UINT

Timestamp of this Error Log Entry

 

32

32

ErrorLogEntryErrorCode

UINT

ErrorCode of this Error Log Entry

 

Table 82: Error Log Settings Telemetry Format

ID

132

Frame Length (bytes)

1

Description

Error Log Settings

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

1

Active State

ENUM

Error Logging Enabled state. Possible values are in Table 10

 

1

1

Buffer Full Action

ENUM

Action to take when log is full. Possible values are in Table 11

 

2

6

Reserved

PADDING

Reserved.

 

Table 83: Current Unix time Telemetry Format

ID

133

Frame Length (bytes)

8

Description

Current Unix time

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Current Unix seconds

UINT

Current Unix time s. (Unit of measure is [s])

 

32

32

Current Unix Nanoseconds

UINT

Current Unix time ns. (Unit of measure is [ns])

 

Table 84: Persist Config Diagnostics Telemetry Format

ID

134

Frame Length (bytes)

6

Description

Diagnostics data for config persistence

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

State

ENUM

Config Persistence Task State. Possible values are in Table 85

 

8

8

Last Result

ENUM

Config Persistence Last Result. Possible values are in Table 86

 

16

32

Timestamp

UINT

Timestamp of last result. (Unit of measure is [s])

 

Table 85: ConfigPersistState Enumeration Values

Numeric Value

Name

Description

0

Idle

Config Persist task is IDLE

1

Busy

Config Persist task is BUSY

 

Table 86: ConfigPersistResult Enumeration Values

Numeric Value

Name

Description

0

None

No result yet for config persist

1

Success

Config Persist SUCCESSFUL

2

Error Param Lock

Config Persist failed due to a parameter mutex timeout

3

ErrorFlash

Config Persist failed due to faillure during flash operations

 

Table 87: Communication Status Telemetry Format

ID

135

Frame Length (bytes)

32

Description

Communication Status

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

UART Telecommand counter

UINT

UART No. of telecommands received

 

16

16

UART Telemetry request counter

UINT

UART No. of telemetry requests received

 

32

16

UART Errors reported in SW checks

UINT

UART Errors reported in SW checks

 

48

16

UART Errors reported by HW Flags

UINT

UART Errors reported by HW Flags

 

64

16

UART2 Telecommand counter

UINT

UART2 No. of telecommands received

 

80

16

UART2 Telemetry request counter

UINT

UART2 No. of telemetry requests received

 

96

16

UART2 Errors reported in SW checks

UINT

UART2 Errors reported in SW checks

 

112

16

UART2 Errors reported by HW Flags

UINT

UART2 Errors reported by HW Flags

 

128

16

CAN Telecommand counter

UINT

CAN No. of telecommands received

 

144

16

CAN Telemetry request counter

UINT

CAN No. of telemetry requests received

 

160

16

CAN Errors reported in SW checks

UINT

CAN Errors reported in SW checks

 

176

16

CAN Errors reported by HW Flags

UINT

CAN Errors reported by HW Flags

 

192

16

I2C Telecommand counter

UINT

I2C No. of telecommands received

 

208

16

I2C Telemetry request counter

UINT

I2C No. of telemetry requests received

 

224

16

I2C Errors reported in SW checks

UINT

I2C Errors reported in SW checks

 

240

16

I2C Errors reported by HW Flags

UINT

I2C Errors reported by HW Flags

 

Table 88: Version Telemetry Format

ID

136

Frame Length (bytes)

22

Description

Firmware Version

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Firmware version (Major)

UINT

Firmware version (Major)

 

8

8

Firmware version (Minor)

UINT

Firmware version (Minor)

 

16

16

Firmware version (Patch)

UINT

Firmware version (Patch)

 

32

8

System version (Major)

UINT

System version (Major)

 

40

8

System version (Minor)

UINT

System version (Minor)

 

48

16

System version (Patch)

UINT

System version (Patch)

 

64

8

Git Branch

ENUM

The git branch of the firmware build. Possible values are in Table 89

 

72

32

Git Hash

UINT

Git has for the firmware build

 

104

32

Build Hash

UINT

Build hash

 

136

32

Build Time (seconds)

UINT

Timestamp of the firmware build. (Unit of measure is [s])

 

168

8

Hardware version (Minor)

UINT

Hardware version (Minor)

 

Table 89: GitBranch Enumeration Values

Numeric Value

Name

Description

0

Master

master branch

1

Release

release branch

2

Other

all other informal/development branches - not expected for software bundle firmware

 

Table 90: Boot Status Telemetry Format

ID

137

Frame Length (bytes)

3

Description

State information about the device boot process

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

State

ENUM

Boot State. Possible values are in Table 91

 

8

8

Reset Reason

ENUM

Cause of the last reset. Possible values are in Table 92

 

16

1

Shared Params Error

BOOL

CRC check of shared parameters from bootloader failed - app will use its own config values

 

17

1

Port Validation Error

BOOL

Port validation failed. Only applicable to CubeComputer.

 

18

1

Port Discovery Error

BOOL

Auto-Discovery failed. Only applicable to CubeComputer.

 

19

1

OTP Serial Number Error

BOOL

OTP serial number is invalid

 

20

1

Config Serial Number Error

BOOL

Config serial number is invalid

 

21

1

Serial Number Mismatch Error

BOOL

OTP/Config serial numbers do not match

 

22

1

Config invalid error

BOOL

Set if the applications config is invalid and the default configuration is being used (if available).

 

Table 91: BootState Enumeration Values

Numeric Value

Name

Description

0

Application Initializing

Application is busy booting and initializing

1

Port Validation

CubeComputer control-program is running and performing port validation of connected nodes. Only applicable to CubeComputer

2

Auto-discovery

CubeComputer control-program is running and performing node auto discovery of connected nodes. Only applicable to CubeComputer

3

Application Running

Application is running after successful bootloader execution and initialization

4

ASSERT Error

Application has triggered an ASSERT and will immediately. This is transitory and is not expected to be read as the state. It will be reflected in the reset reason.

 

Table 92: BootResetReason Enumeration Values

Numeric Value

Name

Description

0

Unkown

Reset reason is unknown

1

Firewall

Firewall (Unused)

2

Option bytes reload

Option-byte reset. This will have a dedicated reset reason if commanded, otherwise, is signals that the bootloader reloaded option bytes automatically before exitting.

3

EXT Pin

External Pin reset (Unused)

4

Brown Out

Brown Out reset

5

Soft Reset

Software reset

6

WatchDog

WatchDog Reset

7

Low Power

Low Power Reset

8

ASSERT error

The running application triggered an ASSERT and reset - check error log for error code

 

Table 93: Telecommand Acknowledge Telemetry Format

ID

138

Frame Length (bytes)

4

Description

Used with the I2C protocol to receive Telecommand Ack/Nack

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

TCTLM ID

UINT

Last TcTlm ID

 

8

8

Error

ENUM

Last TcTlm Error. Possible values are in Table 94

 

16

8

ErrorIndex

UINT

Buffer index of error

 

24

1

Read

BOOL

Flag indicating if this acknowledgement has been read sinc the last TCTLM

 

Table 94: TcTlmError Enumeration Values

Numeric Value

Name

Description

0

Ok

No Error

1

Invalid ID

Invalid TcTlm ID

2

Invalid Length

Invalid Length

3

Invalid Parameter

Invalid Parameter

4

CRC

CRC Check Failed

5

Not Implemented

TCTLM not implemented

6

Busy

Busy

7

Sequence

Error in sequence of commands

8

Internal

Internal error

9

Passthrough Timeout

Passthrough node timeout error

10

Passthrough Target

Passthrough target is invalid (passthrough is disabled)

 

Table 95: Common Error Codes Telemetry Format

ID

139

Frame Length (bytes)

16

Description

Error codes common to all applications

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Slave Service - CAN

UINT

Tctlm comms slave service error code for CAN interface (OBC comms).

 

32

32

Slave Service - UART

UINT

Tctlm comms slave service error code for UART interface (OBC comms).

 

64

32

Slave Service - I2C

UINT

Tctlm comms slave service error code for I2C interface (OBC comms).

 

96

32

Error Log Service

UINT

Error-log service error code.

 

Table 96: Identification2 Telemetry Format

ID

140

Frame Length (bytes)

21

Description

Identification information for this node

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Node type identifier

ENUM

Node type identifier. Possible values are in Table 56

 

8

8

Program type identifier

ENUM

Program type identifier. Possible values are in Table 57

 

16

32

Serial Integer

UINT

Integer representation of the integer portion the serial number of this module sourced from active serial

 

48

8

Interface version

UINT

Interface version

 

56

8

Firmware version (Major)

UINT

Firmware version (Major)

 

64

8

Firmware version (Minor)

UINT

Firmware version (Minor)

 

72

16

Firmware version (Patch)

UINT

Firmware version (Patch)

 

88

8

System version (Major)

UINT

System version (Major)

 

96

8

System version (Minor)

UINT

System version (Minor)

 

104

16

System version (Patch)

UINT

System version (Patch)

 

120

8

Hardware version (Minor)

UINT

Hardware version (Minor)

 

128

16

Runtime (seconds)

UINT

Seconds since processor start-up

 

144

16

Runtime (milliseconds)

UINT

Milliseconds (after the integer second) since processor start-up

 

160

8

Reserved

PADDING

Reserved.

 

Table 97: CubeNode-Quad PortMap Telemetry Format

ID

159

Frame Length (bytes)

36

Description

The configured port map of all CubeNode-Quads

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Node Type CQ Slot 0

ENUM

CubeNode-Quad node type for this port map (CQ0). Possible values are in Table 56

 

8

32

Serial Number Integer CQ Slot 0

UINT

CubeNode-Quad serial number integer for this port map (CQ0)

 

40

8

Port 1 CQ Slot 0

ENUM

Abstract type assignment on port 1 of this CubeNode-Quad (CQ0). Possible values are in Table 60

 

48

8

Port 2 CQ Slot 0

ENUM

Abstract type assignment on port 2 of this CubeNode-Quad (CQ0). Possible values are in Table 60

 

56

8

Port 3 CQ Slot 0

ENUM

Abstract type assignment on port 3 of this CubeNode-Quad (CQ0). Possible values are in Table 60

 

64

8

Port 4 CQ Slot 0

ENUM

Abstract type assignment on port 4 of this CubeNode-Quad (CQ0). Possible values are in Table 60

 

72

8

Node Type CQ Slot 1

ENUM

CubeNode-Quad node type for this port map (CQ1). Possible values are in Table 56

 

80

32

Serial Number Integer CQ Slot 1

UINT

CubeNode-Quad serial number integer for this port map (CQ1)

 

112

8

Port 1 CQ Slot 1

ENUM

Abstract type assignment on port 1 of this CubeNode-Quad (CQ1). Possible values are in Table 60

 

120

8

Port 2 CQ Slot 1

ENUM

Abstract type assignment on port 2 of this CubeNode-Quad (CQ1). Possible values are in Table 60

 

128

8

Port 3 CQ Slot 1

ENUM

Abstract type assignment on port 3 of this CubeNode-Quad (CQ1). Possible values are in Table 60

 

136

8

Port 4 CQ Slot 1

ENUM

Abstract type assignment on port 4 of this CubeNode-Quad (CQ1). Possible values are in Table 60

 

144

8

Node Type CQ Slot 2

ENUM

CubeNode-Quad node type for this port map (CQ2). Possible values are in Table 56

 

152

32

Serial Number Integer CQ Slot 2

UINT

CubeNode-Quad serial number integer for this port map (CQ2)

 

184

8

Port 1 CQ Slot 2

ENUM

Abstract type assignment on port 1 of this CubeNode-Quad (CQ2). Possible values are in Table 60

 

192

8

Port 2 CQ Slot 2

ENUM

Abstract type assignment on port 2 of this CubeNode-Quad (CQ2). Possible values are in Table 60

 

200

8

Port 3 CQ Slot 2

ENUM

Abstract type assignment on port 3 of this CubeNode-Quad (CQ2). Possible values are in Table 60

 

208

8

Port 4 CQ Slot 2

ENUM

Abstract type assignment on port 4 of this CubeNode-Quad (CQ2). Possible values are in Table 60

 

216

8

Node Type CQ Slot 3

ENUM

CubeNode-Quad node type for this port map (CQ3). Possible values are in Table 56

 

224

32

Serial Number Integer CQ Slot 3

UINT

CubeNode-Quad serial number integer for this port map (CQ3)

 

256

8

Port 1 CQ Slot 3

ENUM

Abstract type assignment on port 1 of this CubeNode-Quad (CQ3). Possible values are in Table 60

 

264

8

Port 2 CQ Slot 3

ENUM

Abstract type assignment on port 2 of this CubeNode-Quad (CQ3). Possible values are in Table 60

 

272

8

Port 3 CQ Slot 3

ENUM

Abstract type assignment on port 3 of this CubeNode-Quad (CQ3). Possible values are in Table 60

 

280

8

Port 4 CQ Slot 3

ENUM

Abstract type assignment on port 4 of this CubeNode-Quad (CQ3). Possible values are in Table 60

 

Table 98: Raw CubeStar telemetry Telemetry Format

ID

160

Frame Length (bytes)

28

Description

Raw CubeStar telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

4

STR0 Capture Status

ENUM

Status of image capture operation. Possible values are in Table 99

 

68

4

STR0 Detection Status

ENUM

Status of star detection operation. Possible values are in Table 100

 

72

4

STR0 Identification Status

ENUM

Status of star identification operation. Possible values are in Table 101

 

76

1

STR0 Idle

BOOL

CubeStar is idle and can accept new command

 

77

1

STR0 Tracking

BOOL

CubeStar is in tracking mode

 

78

1

STR0 valid flag

BOOL

CubeStar raw telemetry valid flag

 

79

1

Reserved

PADDING

Reserved.

 

80

8

STR0 Number Detected Stars

UINT

Number of detected stars

 

88

8

STR0 Number Identified Stars

UINT

Number of identified stars

 

96

16

STR0 Angular Rate X

INT

Estimated angular rate around CubeStar X-axis. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL/10000.0

 

112

16

STR0 Angular Rate Y

INT

Estimated angular rate around CubeStar Y-axis. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL/10000.0

 

128

16

STR0 Angular Rate Z

INT

Estimated angular rate around CubeStar Z-axis. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL/10000.0

 

144

4

STR1 Capture Status

ENUM

Status of image capture operation. Possible values are in Table 99

 

148

4

STR1 Detection Status

ENUM

Status of star detection operation. Possible values are in Table 100

 

152

4

STR1 Identification Status

ENUM

Status of star identification operation. Possible values are in Table 101

 

156

1

STR1 Idle

BOOL

CubeStar is idle and can accept new command

 

157

1

STR1 Tracking

BOOL

CubeStar is in tracking mode

 

158

1

STR1 valid flag

BOOL

CubeStar raw telemetry valid flag

 

159

1

Reserved

PADDING

Reserved.

 

160

8

STR1 Number Detected Stars

UINT

Number of detected stars

 

168

8

STR1 Number Identified Stars

UINT

Number of identified stars

 

176

16

STR1 Angular Rate X

INT

Estimated angular rate around CubeStar X-axis. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL/10000.0

 

192

16

STR1 Angular Rate Y

INT

Estimated angular rate around CubeStar Y-axis. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL/10000.0

 

208

16

STR1 Angular Rate Z

INT

Estimated angular rate around CubeStar Z-axis. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL/10000.0

 

Table 99: StarCaptureStatus Enumeration Values

Numeric Value

Name

Description

0

Startup

Initialised

1

Pending

Image capture scheduled

2

Busy

Image capture in progress

3

Completed

Successful capture

4

Camera error

Camera error occurred

 

Table 100: StarDetectStatus Enumeration Values

Numeric Value

Name

Description

0

Startup

Initialised

1

Pending

Detection scheduled

2

Busy

Detection in progress

3

Aborted

Detection stopped because process took too long

4

Completed

Detection completed

 

Table 101: StarIdStatus Enumeration Values

Numeric Value

Name

Description

0

Startup

Initialised

1

Pending

Identification scheduled

2

Busy

Identification in progress

3

Aborted

Identification stopped because process took too long

4

Out of Memory

Identification stopped because there is not enough memory for match tables

5

Not Enough Stars

Identification was not attempted because there are not enough detected stars

6

Tracking Error

Identification failed because previously tracked stars could not be located

7

Completed

Identification completed

 

Table 102: File Transfer Status Telemetry Format

ID

161

Frame Length (bytes)

13

Description

File Transfer Status

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

State

ENUM

FTP Global State. Possible values are in Table 103

 

8

8

Upgrade State

ENUM

FTP Internal Upgrade State. Possible values are in Table 104

 

16

32

Data Remain

UINT

Amount of remaining data to transfer. (Unit of measure is [Bytes])

 

48

32

Error Code

UINT

Operation Error Code. Non-Zero = ERROR

 

80

1

Busy Error

BOOL

Bootloader is busy

 

81

1

File Metadata Error

BOOL

File Metadata received is invalid

 

82

1

Version Error

BOOL

File version is incompatible

 

83

1

Node Exist Error

BOOL

Target node does not exist

 

84

1

Node Expected Error

BOOL

Target node is not expected

 

85

1

File CRC Error

BOOL

File CRC Error Flag

 

86

1

File Size Error

BOOL

File is too large

 

87

1

File Error

BOOL

File Error Flag (open/close)

 

88

1

File Invalid Error

BOOL

File Invalid Error Flag

 

89

1

File Full Error

BOOL

File Full Error Flag

 

90

1

File Empty Error

BOOL

File Empty Error Flag

 

91

1

Read Error

BOOL

Read Error Flag

 

92

1

Write Error

BOOL

Write Error Flag

 

93

1

Erase Error

BOOL

Erase Error Flag

 

94

1

Frame Size Error

BOOL

Frame Size Error Flag

 

95

1

Timeout Error

BOOL

Timeout Error Flag

 

96

1

Node Comms Error

BOOL

Node comms fails during upgrade

 

97

1

Node Used Error

BOOL

Node is required for control

 

Table 103: FtpState Enumeration Values

Numeric Value

Name

Description

0

Idle

No File Transfer in Progress

1

Init

Initializing File Operation

2

Busy

File Transfer is in Progress

3

Locked

File Transfer service is locked

 

Table 104: FtpUpgradeState Enumeration Values

Numeric Value

Name

Description

0

Idle

No Upgrade in Progress

1

Init

Initializing upgrade operation - first state immediately following transfer setup

2

Trinsition

Upgrade transitioning from image binary to config binary uupgrade

3

InitBin

Initializing image binary upgrade

4

InitCfg

Initializing config binary upgrade

5

BusyBin

Image binary upgrade in progress

6

BusyCfg

Config binary upgrade in progress

 

Table 105: Orbit mode Telemetry Format

ID

162

Frame Length (bytes)

1

Description

Orbit mode

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Orbit mode

ENUM

Orbit calculation mode. Possible values are in Table 16

 

Table 106: Current execution point Telemetry Format

ID

163

Frame Length (bytes)

1

Description

Current execution point

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Current execution point

ENUM

Indicates which part of the loop is currently executing. Possible values are in Table 107

 

Table 107: AcpExecutionPoint Enumeration Values

Numeric Value

Name

Description

0

Initialisation

Initialisation

1

Idle

Idle

2

Sensor communication

Sensor communication

3

ADCS estimation update

ADCS estimation update

4

ADCS controller update

ADCS controller update

5

Reaction wheel communication

Reaction wheel communication

6

ADCS models update

ADCS models update

7

Housekeeping

Housekeeping

8

Telemetry log

Telemetry logging

 

Table 108: HIL telemetry Telemetry Format

ID

164

Frame Length (bytes)

107

Description

HIL telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Active control mode

ENUM

Active control mode. Possible values are in Table 25

 

8

8

Active estimator mode

ENUM

Active estimator mode. Possible values are in Table 39

 

16

6

Active orbit mode

ENUM

Active orbit mode. Possible values are in Table 16

 

22

1

ASGP4 position error

BOOL

GNSS and ASGP4 position error differs too much

 

23

1

HIL synchronised

BOOL

HIL is currently synchronised

 

24

32

RWL0 speed command

FLOAT

RWL0 speed command. (Unit of measure is [rpm])

 

56

32

RWL1 speed command

FLOAT

RWL1 speed command. (Unit of measure is [rpm])

 

88

32

RWL2 speed command

FLOAT

RWL2 speed command. (Unit of measure is [rpm])

 

120

32

RWL3 speed command

FLOAT

RWL3 speed command. (Unit of measure is [rpm])

 

152

16

MTQ0 on-time command

INT

MTQ0 on-time command. (Unit of measure is [ms])

 

168

16

MTQ1 on-time command

INT

MTQ1 on-time command. (Unit of measure is [ms])

 

184

16

MTQ2 on-time command

INT

MTQ2 on-time command. (Unit of measure is [ms])

 

200

16

Magnetic control timeout

UINT

Magnetic control timeout. (Unit of measure is [s])

 

216

1

RWL0 error flag

BOOL

RWL0 error flag

 

217

1

RWL1 error flag

BOOL

RWL1 error flag

 

218

1

RWL2 error flag

BOOL

RWL2 error flag

 

219

1

RWL3 error flag

BOOL

RWL3 error flag

 

220

1

RWL0 active flag

BOOL

RWL0 active flag

 

221

1

RWL1 active flag

BOOL

RWL1 active flag

 

222

1

RWL2 active flag

BOOL

RWL2 active flag

 

223

1

RWL3 active flag

BOOL

RWL3 active flag

 

224

32

Estimated ORC quaternion Q0

FLOAT

Estimated ORC quaternion Q0

 

256

32

Estimated ORC quaternion Q1

FLOAT

Estimated ORC quaternion Q1

 

288

32

Estimated ORC quaternion Q2

FLOAT

Estimated ORC quaternion Q2

 

320

32

Estimated ORC quaternion Q3

FLOAT

Estimated ORC quaternion Q3

 

352

32

Estimated body rate (ORC) X component

FLOAT

Estimated body rate (ORC) X component. (Unit of measure is [degps])

 

384

32

Estimated body rate (ORC) Y component

FLOAT

Estimated body rate (ORC) Y component. (Unit of measure is [degps])

 

416

32

Estimated body rate (ORC) Z component

FLOAT

Estimated body rate (ORC) Z component. (Unit of measure is [degps])

 

448

32

Satellite ECI position vector X component

INT

Satellite ECI position vector X component. (Unit of measure is [m])

 

480

32

Satellite ECI position vector Y component

INT

Satellite ECI position vector Y component. (Unit of measure is [m])

 

512

32

Satellite ECI position vector Z component

INT

Satellite ECI position vector Z component. (Unit of measure is [m])

 

544

16

Satellite ECI velocity vector X component

INT

Satellite ECI velocity vector X component. (Unit of measure is [m/s])

 

560

16

Satellite ECI velocity vector Y component

INT

Satellite ECI velocity vector Y component. (Unit of measure is [m/s])

 

576

16

Satellite ECI velocity vector Z component

INT

Satellite ECI velocity vector Z component. (Unit of measure is [m/s])

 

592

32

Commanded roll angle

FLOAT

Commanded roll angle. (Unit of measure is [deg])

 

624

32

Commanded pitch angle

FLOAT

Commanded pitch angle. (Unit of measure is [deg])

 

656

32

Commanded yaw angle

FLOAT

Commanded yaw angle. (Unit of measure is [deg])

 

688

16

ASGP4 batch counter

UINT

ASGP4 batch counter

 

704

16

ASGP4 position delta

UINT

Average position error between GNSS and ASGP4. (Unit of measure is [m])

 

720

32

RWL0 speed measurement

FLOAT

RWL0 speed measurement. (Unit of measure is [rpm])

 

752

32

RWL1 speed measurement

FLOAT

RWL1 speed measurement. (Unit of measure is [rpm])

 

784

32

RWL2 speed measurement

FLOAT

RWL2 speed measurement. (Unit of measure is [rpm])

 

816

32

RWL3 speed measurement

FLOAT

RWL3 speed measurement. (Unit of measure is [rpm])

 

848

1

RWL0 measurement valid flag

BOOL

RWL0 measurement valid flag

 

849

1

RWL1 measurement valid flag

BOOL

RWL1 measurement valid flag

 

850

1

RWL2 measurement valid flag

BOOL

RWL2 measurement valid flag

 

851

1

RWL3 measurement valid flag

BOOL

RWL3 measurement valid flag

 

Table 109: Health telemetry for CubeStar Telemetry Format

ID

165

Frame Length (bytes)

34

Description

Health telemetry for CubeStar star camera

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

STR0 MCU Temperature

INT

STR0 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

16

16

STR0 MCU Current

UINT

STR0 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

32

16

STR0 MCU Voltage

UINT

STR0 MCU supply voltage. (Unit of measure is [mV])

 

48

16

STR0 Current

UINT

STR0 current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

64

16

STR0 Peak Current

UINT

STR0 peak current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

80

16

STR0 PCB Temperature

INT

STR0 detector PCB temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

96

1

STR0 Initialise OK

BOOL

STR0 sensor initialised without error

 

97

1

STR0 Configure OK

BOOL

STR0 sensor configured without error

 

98

6

PADDING

Reserved.

 

104

32

STR0 Error Code

UINT

STR0 Error Code

 

136

16

STR1 MCU Temperature

INT

STR1 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

152

16

STR1 MCU Current

UINT

STR1 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

168

16

STR1 MCU Voltage

UINT

STR1 MCU supply voltage. (Unit of measure is [mV])

 

184

16

STR1 Current

UINT

STR1 current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

200

16

STR1 Peak Current

UINT

STR1 peak current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

216

16

STR1 PCB Temperature

INT

STR1 detector PCB temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

232

1

STR1 Initialise OK

BOOL

STR1 sensor initialised without error

 

233

1

STR1 Configure OK

BOOL

STR1 sensor configured without error

 

234

6

PADDING

Reserved.

 

240

32

STR1 Error Code

UINT

STR1 Error Code

 

Table 110: Health telemetry for CubeNode PST3S Telemetry Format

ID

166

Frame Length (bytes)

18

Description

Health telemetry for CubeNode PST3S

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

STR0 MCU Temperature

INT

STR0 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

16

16

STR0 MCU Current

UINT

STR0 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

32

16

STR0 MCU Voltage

UINT

STR0 MCU supply voltage. (Unit of measure is [mV])

 

48

16

STR0 PST3S Current

UINT

STR0 PST3S current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

64

1

STR0 PST3S CAM Overcurrent

BOOL

STR0 PST3S CAM overcurrent

 

65

7

PADDING

Reserved.

 

72

16

STR1 MCU Temperature

INT

STR1 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

88

16

STR1 MCU Current

UINT

STR1 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

104

16

STR1 MCU Voltage

UINT

STR1 MCU supply voltage. (Unit of measure is [mV])

 

120

16

STR1 PST3S Current

UINT

STR1 PST3S current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

136

1

STR1 PST3S CAM Overcurrent

BOOL

STR1 PST3S CAM overcurrent

 

137

7

PADDING

Reserved.

 

Table 111: Health telemetry for CubeMag magnetometer Telemetry Format

ID

167

Frame Length (bytes)

30

Description

Health telemetry for CubeMag magnetometer

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

MAG0 MCU Temperature

INT

MAG0 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

16

16

MAG0 MCU Current

UINT

MAG0 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

32

16

MAG0 MCU Voltage

UINT

MAG0 MCU supply voltage. (Unit of measure is [mV])

 

48

16

MAG0 Primary Temperature

INT

MAG0 Detector Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

64

16

MAG0 Redundant Temperature

INT

MAG0 Detector Current. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

80

32

MAG0 Burn Current

UINT

MAG0 Deploy Burn Current. (Unit of measure is [mA])

 

112

1

MAG0 Deploy Pin State

BOOL

MAG0 Deploy Pin State

 

113

1

MAG0 Burn Pin State

BOOL

MAG0 Burn Pin State

 

114

1

MAG0 Burn Under Current

BOOL

MAG0 Burn Under Current Flag

 

115

1

MAG0 Burn Over Current

BOOL

MAG0 Burn Over Current Flag

 

116

1

MAG0 Deploy Timeout

BOOL

MAG0 Deployment timeout Flag

 

117

3

PADDING

Reserved.

 

120

16

MAG1 MCU Temperature

INT

MAG1 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

136

16

MAG1 MCU Current

UINT

MAG1 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

152

16

MAG1 MCU Voltage

UINT

MAG1 MCU supply voltage. (Unit of measure is [mV])

 

168

16

MAG1 Primary Temperature

INT

MAG1 Detector Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

184

16

MAG1 Redundant Temperature

INT

MAG1 Detector Current. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

200

32

MAG1 Burn Current

UINT

MAG1 Deploy Burn Current. (Unit of measure is [mA])

 

232

1

MAG1 Deploy Pin State

BOOL

MAG1 Deploy Pin State

 

233

1

MAG1 Burn Pin State

BOOL

MAG1 Burn Pin State

 

234

1

MAG1 Burn Under Current

BOOL

MAG1 Burn Under Current Flag

 

235

1

MAG1 Burn Over Current

BOOL

MAG1 Burn Over Current Flag

 

236

1

MAG1 Deploy Timeout

BOOL

MAG1 Deployment timeout Flag

 

Table 112: Health telemetry for CubeSense Sun Telemetry Format

ID

168

Frame Length (bytes)

44

Description

Health telemetry for CubeSense Sun

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

FSS0 MCU Temperature

INT

FSS0 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

16

16

FSS0 MCU Current

UINT

FSS0 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

32

16

FSS0 MCU Voltage

UINT

FSS0 MCU supply voltage. (Unit of measure is [mV])

 

48

16

FSS0 CAM current

UINT

FSS0 Camera current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

64

16

FSS0 SRAM current

UINT

FSS0 SRAM current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

80

1

FSS0 CAM overcurrent

BOOL

FSS0 CAM overcurrent detected

 

81

1

FSS0 SRAM overcurrent

BOOL

FSS0 SRAM overcurrent detected

 

82

6

PADDING

Reserved.

 

88

16

FSS1 MCU Temperature

INT

FSS1 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

104

16

FSS1 MCU Current

UINT

FSS1 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

120

16

FSS1 MCU Voltage

UINT

FSS1 MCU supply voltage. (Unit of measure is [mV])

 

136

16

FSS1 CAM current

UINT

FSS1 Camera current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

152

16

FSS1 SRAM current

UINT

FSS1 SRAM current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

168

1

FSS1 CAM overcurrent

BOOL

FSS1 CAM overcurrent detected

 

169

1

FSS1 SRAM overcurrent

BOOL

FSS1 SRAM overcurrent detected

 

170

6

PADDING

Reserved.

 

176

16

FSS2 MCU Temperature

INT

FSS2 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

192

16

FSS2 MCU Current

UINT

FSS2 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

208

16

FSS2 MCU Voltage

UINT

FSS2 MCU supply voltage. (Unit of measure is [mV])

 

224

16

FSS2 CAM current

UINT

FSS2 Camera current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

240

16

FSS2 SRAM current

UINT

FSS2 SRAM current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

256

1

FSS2 CAM overcurrent

BOOL

FSS2 CAM overcurrent detected

 

257

1

FSS2 SRAM overcurrent

BOOL

FSS2 SRAM overcurrent detected

 

258

6

PADDING

Reserved.

 

264

16

FSS3 MCU Temperature

INT

FSS3 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

280

16

FSS3 MCU Current

UINT

FSS3 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

296

16

FSS3 MCU Voltage

UINT

FSS3 MCU supply voltage. (Unit of measure is [mV])

 

312

16

FSS3 CAM current

UINT

FSS3 Camera current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

328

16

FSS3 SRAM current

UINT

FSS3 SRAM current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

344

1

FSS3 CAM overcurrent

BOOL

FSS3 CAM overcurrent detected

 

345

1

FSS3 SRAM overcurrent

BOOL

FSS3 SRAM overcurrent detected

 

346

6

PADDING

Reserved.

 

Table 113: Torquer Current measurements Telemetry Format

ID

169

Frame Length (bytes)

50

Description

Current measurements

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

MTQ1 positive current peak (mA)

FLOAT

Total magnetorquer 1 positive current peak (mA). (Unit of measure is [mA])

 

32

32

MTQ1 positive current average (mA)

FLOAT

Total magnetorquer 1 positive current average (mA). (Unit of measure is [mA])

 

64

32

MTQ1 negative current peak (mA)

FLOAT

Total magnetorquer 1 negative current peak (mA). (Unit of measure is [mA])

 

96

32

MTQ1 negative current average (mA)

FLOAT

Total magnetorquer 1 negative current average (mA). (Unit of measure is [mA])

 

128

32

MTQ2 positive current peak (mA)

FLOAT

Total magnetorquer 2 positive current peak (mA). (Unit of measure is [mA])

 

160

32

MTQ2 positive current average (mA)

FLOAT

Total magnetorquer 2 positive current average (mA). (Unit of measure is [mA])

 

192

32

MTQ2 negative current peak (mA)

FLOAT

Total magnetorquer 2 negative current peak (mA). (Unit of measure is [mA])

 

224

32

MTQ2 negative current average (mA)

FLOAT

Total magnetorquer 2 negative current average (mA). (Unit of measure is [mA])

 

256

32

MTQ3 positive current peak (mA)

FLOAT

Total magnetorquer 3 positive current peak (mA). (Unit of measure is [mA])

 

288

32

MTQ3 positive current average (mA)

FLOAT

Total magnetorquer 3 positive current average (mA). (Unit of measure is [mA])

 

320

32

MTQ3 negative current peak (mA)

FLOAT

Total magnetorquer 3 negative current peak (mA). (Unit of measure is [mA])

 

352

32

MTQ3 negative current average (mA)

FLOAT

Total magnetorquer 3 negative current average (mA). (Unit of measure is [mA])

 

384

3

MTQ1 polarity

ENUM

The polarity of magnetorquer 1 on the last iteration. Possible values are in Table 114

 

387

3

MTQ2 polarity

ENUM

The polarity of magnetorquer 2 on the last iteration. Possible values are in Table 114

 

390

3

MTQ3 polarity

ENUM

The polarity of magnetorquer 3 on the last iteration. Possible values are in Table 114

 

Table 114: MtqPolarity Enumeration Values

Numeric Value

Name

Description

0

Off

Magnetorquer is off

1

Positive

Magnetorquer is on with positive polarity

2

Negatve

Magnetorquer is on with negative polarity

 

Table 115: Raw CubeSense Sun telemetry Telemetry Format

ID

170

Frame Length (bytes)

33

Description

Raw CubeSense Sun telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

16

FSS0 alpha angle

INT

FSS0 alpha Angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01f

 

80

16

FSS0 beta angle

INT

FSS0 beta Angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01f

 

96

8

FSS0 capture result

ENUM

FSS0 capture result. Possible values are in Table 116

 

104

8

FSS0 detection result

ENUM

FSS0 detection result. Possible values are in Table 117

 

112

16

FSS1 alpha angle

INT

FSS1 alpha Angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01f

 

128

16

FSS1 beta angle

INT

FSS1 beta Angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01f

 

144

8

FSS1 capture result

ENUM

FSS1 capture result. Possible values are in Table 116

 

152

8

FSS1 detection result

ENUM

FSS1 detection result. Possible values are in Table 117

 

160

16

FSS2 alpha angle

INT

FSS2 alpha Angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01f

 

176

16

FSS2 beta angle

INT

FSS2 beta Angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01f

 

192

8

FSS2 capture result

ENUM

FSS2 capture result. Possible values are in Table 116

 

200

8

FSS2 detection result

ENUM

FSS2 detection result. Possible values are in Table 117

 

208

16

FSS3 alpha angle

INT

FSS3 alpha Angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01f

 

224

16

FSS3 beta angle

INT

FSS3 beta Angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01f

 

240

8

FSS3 capture result

ENUM

FSS3 capture result. Possible values are in Table 116

 

248

8

FSS3 detection result

ENUM

FSS3 detection result. Possible values are in Table 117

 

256

1

FSS0 valid flag

BOOL

FSS0 valid flag

 

257

1

FSS1 valid flag

BOOL

FSS1 valid flag

 

258

1

FSS2 valid flag

BOOL

FSS2 valid flag

 

259

1

FSS3 valid flag

BOOL

FSS3 valid flag

 

Table 116: SunCaptureResult Enumeration Values

Numeric Value

Name

Description

0

Start-up

Initialized

1

Result Pending

Issued but not complete

2

Successful capture to first SRAM position (not flipped)

Successful capture

3

Camera timeout

Response Timeout

4

SRAM Overcurrent

Overcurrent Detected

5

Successful capture to first SRAM position (flipped)

Successful capture but result flipped

 

Table 117: SunDetectResult Enumeration Values

Numeric Value

Name

Description

0

Startup

Initialized

1

NoDetect

Nothing Detected

2

Pending

Pending a result

6

SunNotFound

No Sun found

7

Success

Sun detected

 

Table 118: Raw external sensor telemetry Telemetry Format

ID

171

Frame Length (bytes)

57

Description

Raw external sensor telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

32

ExtSensor0 raw float 0

FLOAT

ExtSensor0 raw float 0

 

96

32

ExtSensor0 raw float 1

FLOAT

ExtSensor0 raw float 1

 

128

32

ExtSensor0 raw float 2

FLOAT

ExtSensor0 raw float 2

 

160

32

ExtSensor0 raw float 3

FLOAT

ExtSensor0 raw float 3

 

192

32

ExtSensor0 raw float 4

FLOAT

ExtSensor0 raw float 4

 

224

32

ExtSensor0 raw float 5

FLOAT

ExtSensor0 raw float 5

 

256

32

ExtSensor1 raw float 0

FLOAT

ExtSensor1 raw float 0

 

288

32

ExtSensor1 raw float 1

FLOAT

ExtSensor1 raw float 1

 

320

32

ExtSensor1 raw float 2

FLOAT

ExtSensor1 raw float 2

 

352

32

ExtSensor1 raw float 3

FLOAT

ExtSensor1 raw float 3

 

384

32

ExtSensor1 raw float 4

FLOAT

ExtSensor1 raw float 4

 

416

32

ExtSensor1 raw float 5

FLOAT

ExtSensor1 raw float 5

 

448

1

ExtSensor0 valid flag

BOOL

ExtSensor0 valid flag

 

449

1

ExtSensor1 valid flag

BOOL

ExtSensor1 valid flag

 

Table 119: Controller telemetry Telemetry Format

ID

172

Frame Length (bytes)

114

Description

Controller telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

16

Commanded roll angle

INT

Commanded roll angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

80

16

Commanded pitch angle

INT

Commanded pitch angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

96

16

Commanded yaw angle

INT

Commanded yaw angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

112

16

Error roll angle (steering)

INT

Error roll angle (steering). Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

128

16

Error pitch angle (steering)

INT

Error pitch angle (steering). Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

144

16

Error yaw angle (steering)

INT

Error yaw angle (steering). Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

160

32

Reference ground/GEO target latitude

FLOAT

Reference ground/GEO target latitude. (Unit of measure is [deg])

 

192

32

Reference ground/GEO target longitude

FLOAT

Reference ground/GEO target longitude. (Unit of measure is [deg])

 

224

32

Reference ground/GEO target altitude

INT

Reference ground/GEO target altitude. (Unit of measure is [km])

 

256

16

Control error quaternion vector Q0

INT

Control error quaternion vector Q0. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

272

16

Control error quaternion vector Q1

INT

Control error quaternion vector Q1. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

288

16

Control error quaternion vector Q2

INT

Control error quaternion vector Q2. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

304

32

RWL0 speed command

FLOAT

RWL0 speed command. (Unit of measure is [rpm])

 

336

32

RWL1 speed command

FLOAT

RWL1 speed command. (Unit of measure is [rpm])

 

368

32

RWL2 speed command

FLOAT

RWL2 speed command. (Unit of measure is [rpm])

 

400

32

RWL3 speed command

FLOAT

RWL3 speed command. (Unit of measure is [rpm])

 

432

32

RWL0 momentum command

FLOAT

RWL0 momentum command. (Unit of measure is [N.m.s])

 

464

32

RWL1 momentum command

FLOAT

RWL1 momentum command. (Unit of measure is [N.m.s])

 

496

32

RWL2 momentum command

FLOAT

RWL2 momentum command. (Unit of measure is [N.m.s])

 

528

32

RWL3 momentum command

FLOAT

RWL3 momentum command. (Unit of measure is [N.m.s])

 

560

32

RWL0 torque command

FLOAT

RWL0 torque command. (Unit of measure is [N.m])

 

592

32

RWL1 torque command

FLOAT

RWL1 torque command. (Unit of measure is [N.m])

 

624

32

RWL2 torque command

FLOAT

RWL2 torque command. (Unit of measure is [N.m])

 

656

32

RWL3 torque command

FLOAT

RWL3 torque command. (Unit of measure is [N.m])

 

688

16

MTQ0 dipole moment command

INT

MTQ0 dipole moment command. Formatted value is obtained using the formula: (formatted value) [A.m^2] = RAWVAL*0.001

 

704

16

MTQ1 dipole moment command

INT

MTQ1 dipole moment command. Formatted value is obtained using the formula: (formatted value) [A.m^2] = RAWVAL*0.001

 

720

16

MTQ2 dipole moment command

INT

MTQ2 dipole moment command. Formatted value is obtained using the formula: (formatted value) [A.m^2] = RAWVAL*0.001

 

736

32

MTQ0 torque command

FLOAT

MTQ0 torque command. (Unit of measure is [N.m])

 

768

32

MTQ1 torque command

FLOAT

MTQ1 torque command. (Unit of measure is [N.m])

 

800

32

MTQ2 torque command

FLOAT

MTQ2 torque command. (Unit of measure is [N.m])

 

832

16

MTQ0 on-time command

INT

MTQ0 on-time command. (Unit of measure is [ms])

 

848

16

MTQ1 on-time command

INT

MTQ1 on-time command. (Unit of measure is [ms])

 

864

16

MTQ2 on-time command

INT

MTQ2 on-time command. (Unit of measure is [ms])

 

880

16

Magnetic control timeout

UINT

Magnetic control timeout. (Unit of measure is [s])

 

896

8

Active control mode

ENUM

Active control mode. Possible values are in Table 25

 

904

1

RWL0 error flag

BOOL

RWL0 error flag

 

905

1

RWL1 error flag

BOOL

RWL1 error flag

 

906

1

RWL2 error flag

BOOL

RWL2 error flag

 

907

1

RWL3 error flag

BOOL

RWL3 error flag

 

908

1

RWL0 active flag

BOOL

RWL0 active flag

 

909

1

RWL1 active flag

BOOL

RWL1 active flag

 

910

1

RWL2 active flag

BOOL

RWL2 active flag

 

911

1

RWL3 active flag

BOOL

RWL3 active flag

 

Table 120: Backup estimator telemetry Telemetry Format

ID

173

Frame Length (bytes)

71

Description

Backup estimator telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

16

Estimated roll angle

INT

Estimated roll angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

80

16

Estimated pitch angle

INT

Estimated pitch angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

96

16

Estimated yaw angle

INT

Estimated yaw angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

112

16

Estimated ORC quaternion Q0

INT

Estimated ORC quaternion Q0. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

128

16

Estimated ORC quaternion Q1

INT

Estimated ORC quaternion Q1. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

144

16

Estimated ORC quaternion Q2

INT

Estimated ORC quaternion Q2. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

160

16

Estimated ORC quaternion Q3

INT

Estimated ORC quaternion Q3. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

176

16

Estimated gyro bias X component

INT

Estimated gyro bias X component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.0001

 

192

16

Estimated gyro bias Y component

INT

Estimated gyro bias Y component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.0001

 

208

16

Estimated gyro bias Z component

INT

Estimated gyro bias Z component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.0001

 

224

16

Estimated body rate (ORC) X component

INT

Estimated body rate (ORC) X component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01

 

240

16

Estimated body rate (ORC) Y component

INT

Estimated body rate (ORC) Y component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01

 

256

16

Estimated body rate (ORC) Z component

INT

Estimated body rate (ORC) Z component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01

 

272

16

Estimated body rate (IRC) X component

INT

Estimated body rate (IRC) X component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01

 

288

16

Estimated body rate (IRC) Y component

INT

Estimated body rate (IRC) Y component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01

 

304

16

Estimated body rate (IRC) Z component

INT

Estimated body rate (IRC) Z component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01

 

320

32

Estimated gyroscopic torque X component

FLOAT

Estimated gyroscopic torque X component. (Unit of measure is [N.m])

 

352

32

Estimated gyroscopic torque Y component

FLOAT

Estimated gyroscopic torque Y component. (Unit of measure is [N.m])

 

384

32

Estimated gyroscopic torque Z component

FLOAT

Estimated gyroscopic torque Z component. (Unit of measure is [N.m])

 

416

16

Innovation vector X component

INT

Innovation vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

432

16

Innovation vector Y component

INT

Innovation vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

448

16

Innovation vector Z component

INT

Innovation vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

464

16

StdDev of estimated rate X component

INT

StdDev of estimated rate X component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.001

 

480

16

StdDev of estimated rate Y component

INT

StdDev of estimated rate Y component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.001

 

496

16

StdDev of estimated rate Z component

INT

StdDev of estimated rate Z component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.001

 

512

16

StdDev of estimated quaternion Q0 component

INT

StdDev of estimated quaternion Q0 component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

528

16

StdDev of estimated quaternion Q1 component

INT

StdDev of estimated quaternion Q1 component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

544

16

StdDev of estimated quaternion Q2 component

INT

StdDev of estimated quaternion Q2 component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

560

8

Active estimator mode

ENUM

Active estimator mode. Possible values are in Table 39

 

Table 121: Models telemetry Telemetry Format

ID

174

Frame Length (bytes)

85

Description

Models telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

32

Satellite ECI position vector X component

INT

Satellite ECI position vector X component. (Unit of measure is [m])

 

96

32

Satellite ECI position vector Y component

INT

Satellite ECI position vector Y component. (Unit of measure is [m])

 

128

32

Satellite ECI position vector Z component

INT

Satellite ECI position vector Z component. (Unit of measure is [m])

 

160

16

Satellite ECI velocity vector X component

INT

Satellite ECI velocity vector X component. (Unit of measure is [m/s])

 

176

16

Satellite ECI velocity vector Y component

INT

Satellite ECI velocity vector Y component. (Unit of measure is [m/s])

 

192

16

Satellite ECI velocity vector Z component

INT

Satellite ECI velocity vector Z component. (Unit of measure is [m/s])

 

208

16

Satellite geodetic latitude

INT

Satellite geodetic latitude. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

224

16

Satellite geocentric latitude

INT

Satellite geocentric latitude. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

240

16

Satellite longitude

INT

Satellite longitude. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

256

32

Satellite altitude

UINT

Satellite altitude. Formatted value is obtained using the formula: (formatted value) [km] = RAWVAL*0.01

 

288

32

Target satellite ECI position vector X component

INT

Target satellite ECI position vector X component. (Unit of measure is [m])

 

320

32

Target satellite ECI position vector Y component

INT

Target satellite ECI position vector Y component. (Unit of measure is [m])

 

352

32

Target satellite ECI position vector Z component

INT

Target satellite ECI position vector Z component. (Unit of measure is [m])

 

384

16

IGRF ORC model X component

INT

IGRF ORC model X component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

400

16

IGRF ORC model Y component

INT

IGRF ORC model Y component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

416

16

IGRF ORC model Z component

INT

IGRF ORC model Z component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

432

16

Sun ORC model X component

INT

Sun ORC model X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

448

16

Sun ORC model Y component

INT

Sun ORC model Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

464

16

Sun ORC model Z component

INT

Sun ORC model Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

480

16

Sun beta angle with orbit plane

INT

Sun beta angle with orbit plane. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

496

16

Horizon angle in XoYo plane

INT

Horizon angle in XoYo plane. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

512

16

Horizon East angle from Xo direction

INT

Horizon East angle from Xo direction. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

528

16

Horizon East angle from Yi direction

INT

Horizon East angle from Yi direction. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

544

32

Satellite to ground ORC target vector X component

INT

Satellite to ground ORC target vector X component. (Unit of measure is [m])

 

576

32

Satellite to ground ORC target vector Y component

INT

Satellite to ground ORC target vector Y component. (Unit of measure is [m])

 

608

32

Satellite to ground ORC target vector Z component

INT

Satellite to ground ORC target vector Z component. (Unit of measure is [m])

 

640

16

ASGP4 batch counter

UINT

ASGP4 batch counter

 

656

16

ASGP4 position delta

UINT

Average position error between GNSS and ASGP4. (Unit of measure is [m])

 

672

2

Active orbit mode

ENUM

Active orbit mode. Possible values are in Table 16

 

674

1

ASGP4 position error

BOOL

GNSS and ASGP4 position error differs too much

 

675

1

Eclipse flag

BOOL

Eclipse flag

 

Table 122: Calibrated GNSS sensor telemetry Telemetry Format

ID

175

Frame Length (bytes)

41

Description

Calibrated GNSS sensor telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

32

Satellite ECEF position vector X component

FLOAT

Satellite ECEF position vector X component. (Unit of measure is [m])

 

96

32

Satellite ECEF position vector Y component

FLOAT

Satellite ECEF position vector Y component. (Unit of measure is [m])

 

128

32

Satellite ECEF position vector Z component

FLOAT

Satellite ECEF position vector Z component. (Unit of measure is [m])

 

160

32

Satellite ECEF velocity vector X component

FLOAT

Satellite ECEF velocity vector X component. (Unit of measure is [m/s])

 

192

32

Satellite ECEF velocity vector Y component

FLOAT

Satellite ECEF velocity vector Y component. (Unit of measure is [m/s])

 

224

32

Satellite ECEF velocity vector Z component

FLOAT

Satellite ECEF velocity vector Z component. (Unit of measure is [m/s])

 

256

32

GNSS-supplied unix time integer seconds

UINT

GNSS-supplied unix time integer seconds. (Unit of measure is [s])

 

288

32

GNSS-supplied unix time nanoseconds

UINT

GNSS-supplied unix time nanoseconds. (Unit of measure is [ns])

 

320

1

GNSS valid flag

BOOL

GNSS valid flag

 

Table 123: Calibrated HSS sensor telemetry Telemetry Format

ID

176

Frame Length (bytes)

21

Description

Calibrated HSS sensor telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

16

HSS0 calibrated unit vector X component

INT

HSS0 calibrated unit vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

80

16

HSS0 calibrated unit vector Y component

INT

HSS0 calibrated unit vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

96

16

HSS0 calibrated unit vector Z component

INT

HSS0 calibrated unit vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

112

16

HSS1 calibrated unit vector X component

INT

HSS1 calibrated unit vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

128

16

HSS1 calibrated unit vector Y component

INT

HSS1 calibrated unit vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

144

16

HSS1 calibrated unit vector Z component

INT

HSS1 calibrated unit vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

160

1

HSS0 valid flag

BOOL

HSS0 valid flag

 

161

1

HSS1 valid flag

BOOL

HSS1 valid flag

 

Table 124: Calibrated MAG sensor telemetry Telemetry Format

ID

177

Frame Length (bytes)

21

Description

Calibrated MAG sensor telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

16

MAG0 calibrated vector X component

INT

MAG0 calibrated vector X component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

80

16

MAG0 calibrated vector Y component

INT

MAG0 calibrated vector Y component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

96

16

MAG0 calibrated vector Z component

INT

MAG0 calibrated vector Z component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

112

16

MAG1 calibrated vector X component

INT

MAG1 calibrated vector X component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

128

16

MAG1 calibrated vector Y component

INT

MAG1 calibrated vector Y component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

144

16

MAG1 calibrated vector Z component

INT

MAG1 calibrated vector Z component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

160

1

MAG0 valid flag

BOOL

MAG0 valid flag

 

161

1

MAG1 valid flag

BOOL

MAG1 valid flag

 

162

1

MAG0 best for estimators flag

BOOL

MAG0 best for estimators flag

 

163

1

MAG1 best for estimators flag

BOOL

MAG1 best for estimators flag

 

Table 125: Calibrated FSS sensor telemetry Telemetry Format

ID

178

Frame Length (bytes)

33

Description

Calibrated FSS sensor telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

16

FSS0 calibrated unit vector X component

INT

FSS0 calibrated unit vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

80

16

FSS0 calibrated unit vector Y component

INT

FSS0 calibrated unit vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

96

16

FSS0 calibrated unit vector Z component

INT

FSS0 calibrated unit vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

112

16

FSS1 calibrated unit vector X component

INT

FSS1 calibrated unit vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

128

16

FSS1 calibrated unit vector Y component

INT

FSS1 calibrated unit vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

144

16

FSS1 calibrated unit vector Z component

INT

FSS1 calibrated unit vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

160

16

FSS2 calibrated unit vector X component

INT

FSS2 calibrated unit vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

176

16

FSS2 calibrated unit vector Y component

INT

FSS2 calibrated unit vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

192

16

FSS2 calibrated unit vector Z component

INT

FSS2 calibrated unit vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

208

16

FSS3 calibrated unit vector X component

INT

FSS3 calibrated unit vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

224

16

FSS3 calibrated unit vector Y component

INT

FSS3 calibrated unit vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

240

16

FSS3 calibrated unit vector Z component

INT

FSS3 calibrated unit vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

256

1

FSS0 valid flag

BOOL

FSS0 valid flag

 

257

1

FSS1 valid flag

BOOL

FSS1 valid flag

 

258

1

FSS2 valid flag

BOOL

FSS2 valid flag

 

259

1

FSS3 valid flag

BOOL

FSS3 valid flag

 

260

1

FSS0 best for estimators flag

BOOL

FSS0 best for estimators flag

 

261

1

FSS1 best for estimators flag

BOOL

FSS1 best for estimators flag

 

262

1

FSS2 best for estimators flag

BOOL

FSS2 best for estimators flag

 

263

1

FSS3 best for estimators flag

BOOL

FSS3 best for estimators flag

 

Table 126: Raw CubeSense Earth telemetry Telemetry Format

ID

179

Frame Length (bytes)

21

Description

Raw CubeSense Earth telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

16

HSS0 raw elevation angle

INT

HSS0 raw elevation angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

80

16

HSS0 raw rotation angle

INT

HSS0 raw rotation angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

96

8

HSS0 capture result

ENUM

HSS0 capture result. Possible values are in Table 127

 

104

8

HSS0 detection result

ENUM

HSS0 detection result. Possible values are in Table 128

 

112

16

HSS1 raw elevation angle

INT

HSS1 raw elevation angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

128

16

HSS1 raw rotation angle

INT

HSS1 raw rotation angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

144

8

HSS1 capture result

ENUM

HSS1 capture result. Possible values are in Table 127

 

152

8

HSS1 detection result

ENUM

HSS1 detection result. Possible values are in Table 128

 

160

1

HSS0 valid flag

BOOL

HSS0 valid flag

 

161

1

HSS1 valid flag

BOOL

HSS1 valid flag

 

Table 127: EarthCaptureResult Enumeration Values

Numeric Value

Name

Description

0

Start-up

Initialized

1

Result Pending

Issued but not complete

2

Successful capture

Successful capture

3

Camera timeout

Response Timeout

4

Capture Error

Capture driver error

 

Table 128: EarthDetectResult Enumeration Values

Numeric Value

Name

Description

0

Startup

Initialized

1

Pending

Pending a result

2

No Horizon

No horizon detected in field of view

3

Too Few Edges

Not enough edge points detected

4

Bad Fit

Failed to fit shape on horizon

5

Success

Horizon detected

 

Table 129: Raw MAG sensor telemetry Telemetry Format

ID

180

Frame Length (bytes)

21

Description

Raw MAG sensor telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

16

MAG0 raw vector X component

INT

MAG0 raw vector X component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

80

16

MAG0 raw vector Y component

INT

MAG0 raw vector Y component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

96

16

MAG0 raw vector Z component

INT

MAG0 raw vector Z component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

112

16

MAG1 raw vector X component

INT

MAG1 raw vector X component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

128

16

MAG1 raw vector Y component

INT

MAG1 raw vector Y component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

144

16

MAG1 raw vector Z component

INT

MAG1 raw vector Z component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

160

1

MAG0 valid flag

BOOL

MAG0 valid flag

 

161

1

MAG1 valid flag

BOOL

MAG1 valid flag

 

Table 130: Reference commands for controllers Telemetry Format

ID

181

Frame Length (bytes)

36

Description

Reference commands for controllers

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

RPY Roll command

FLOAT

RPY Roll command. (Unit of measure is [deg])

 

32

32

RPY Pitch command

FLOAT

RPY Pitch command. (Unit of measure is [deg])

 

64

32

RPY Yaw command

FLOAT

RPY Yaw command. (Unit of measure is [deg])

 

96

32

Target latitude command

FLOAT

Target latitude command. (Unit of measure is [deg])

 

128

32

Target longitude command

FLOAT

Target longitude command. (Unit of measure is [deg])

 

160

32

Target altitude command

FLOAT

Target altitude command. (Unit of measure is [km])

 

192

32

Commanded ECI pointing vector X component

FLOAT

Commanded ECI pointing vector X component

 

224

32

Commanded ECI pointing vector Y component

FLOAT

Commanded ECI pointing vector Y component

 

256

32

Commanded ECI pointing vector Z component

FLOAT

Commanded ECI pointing vector Z component

 

Table 131: OpenLoopCommandMtq Telemetry Format

ID

182

Frame Length (bytes)

6

Description

OpenLoopCommandMtq

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

MTQ0 open-loop on-time command

INT

MTQ0 open-loop on-time command. (Unit of measure is [ms])

 

16

16

MTQ1 open-loop on-time command

INT

MTQ1 open-loop on-time command. (Unit of measure is [ms])

 

32

16

MTQ2 open-loop on-time command

INT

MTQ2 open-loop on-time command. (Unit of measure is [ms])

 

Table 132: Power state Telemetry Format

ID

183

Frame Length (bytes)

20

Description

Power state

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

RWL0 power state

ENUM

RWL0 power state. Possible values are in Table 21

 

8

8

RWL1 power state

ENUM

RWL1 power state. Possible values are in Table 21

 

16

8

RWL2 power state

ENUM

RWL2 power state. Possible values are in Table 21

 

24

8

RWL3 power state

ENUM

RWL3 power state. Possible values are in Table 21

 

32

8

MAG0 power state

ENUM

MAG0 power state. Possible values are in Table 21

 

40

8

MAG1 power state

ENUM

MAG1 power state. Possible values are in Table 21

 

48

8

GYR0 power state

ENUM

GYR0 power state. Possible values are in Table 21

 

56

8

GYR1 power state

ENUM

GYR1 power state. Possible values are in Table 21

 

64

8

FSS0 power state

ENUM

FSS0 power state. Possible values are in Table 21

 

72

8

FSS1 power state

ENUM

FSS1 power state. Possible values are in Table 21

 

80

8

FSS2 power state

ENUM

FSS2 power state. Possible values are in Table 21

 

88

8

FSS3 power state

ENUM

FSS3 power state. Possible values are in Table 21

 

96

8

HSS0 power state

ENUM

HSS0 power state. Possible values are in Table 21

 

104

8

HSS1 power state

ENUM

HSS1 power state. Possible values are in Table 21

 

112

8

STR0 power state

ENUM

STR0 power state. Possible values are in Table 21

 

120

8

STR1 power state

ENUM

STR1 power state. Possible values are in Table 21

 

128

8

ExtSensor0 power state

ENUM

ExtSensor0 power state. Possible values are in Table 21

 

136

8

ExtSensor1 power state

ENUM

ExtSensor1 power state. Possible values are in Table 21

 

144

8

EXTGYR0 power state

ENUM

EXTGYR0 power state. Possible values are in Table 21

 

152

8

EXTGYR1 power state

ENUM

EXTGYR1 power state. Possible values are in Table 21

 

Table 133: ADCS run mode Telemetry Format

ID

184

Frame Length (bytes)

1

Description

ADCS run mode

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

ADCS run mode

ENUM

ADCS run mode. Possible values are in Table 23

 

Table 134: Control mode Telemetry Format

ID

185

Frame Length (bytes)

3

Description

Control mode

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Control mode

ENUM

Control mode. Possible values are in Table 25

 

8

16

Magnetic control timeout

UINT

Magnetic control timeout. (Unit of measure is [s])

 

Table 135: Wheel configuration Telemetry Format

ID

186

Frame Length (bytes)

62

Description

Wheel configuration

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

RWL0 inertia

FLOAT

RWL0 inertia. (Unit of measure is [kg.m^2])

 

32

32

RWL0 maximum momentum

FLOAT

RWL0 maximum momentum. (Unit of measure is [N.m.s])

 

64

32

RWL0 maximum torque

FLOAT

RWL0 maximum torque. (Unit of measure is [N.m])

 

96

32

RWL1 inertia

FLOAT

RWL1 inertia. (Unit of measure is [kg.m^2])

 

128

32

RWL1 maximum momentum

FLOAT

RWL1 maximum momentum. (Unit of measure is [N.m.s])

 

160

32

RWL1 maximum torque

FLOAT

RWL1 maximum torque. (Unit of measure is [N.m])

 

192

32

RWL2 inertia

FLOAT

RWL2 inertia. (Unit of measure is [kg.m^2])

 

224

32

RWL2 maximum momentum

FLOAT

RWL2 maximum momentum. (Unit of measure is [N.m.s])

 

256

32

RWL2 maximum torque

FLOAT

RWL2 maximum torque. (Unit of measure is [N.m])

 

288

32

RWL3 inertia

FLOAT

RWL3 inertia. (Unit of measure is [kg.m^2])

 

320

32

RWL3 maximum momentum

FLOAT

RWL3 maximum momentum. (Unit of measure is [N.m.s])

 

352

32

RWL3 maximum torque

FLOAT

RWL3 maximum torque. (Unit of measure is [N.m])

 

384

32

Wheel ramp torque

FLOAT

Wheel ramp torque. (Unit of measure is [N.m])

 

416

8

Wheel scheme

ENUM

Wheel scheme. Possible values are in Table 27

 

424

8

Failed wheel ID

ENUM

Failed wheel ID. Possible values are in Table 28

 

432

32

Pyramid nominal momentum

FLOAT

Pyramid nominal momentum. (Unit of measure is [N.m.s])

 

464

32

Pyramid tilt angle

FLOAT

Pyramid tilt angle. (Unit of measure is [deg])

 

Table 136: Target satellite orbit parameter configuration Telemetry Format

ID

187

Frame Length (bytes)

64

Description

Satellite orbit parameter configuration

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

64

Orbit epoch

DOUBLE

Orbit epoch. (Unit of measure is [yyddd.ssssssss])

 

64

64

Orbit inclination

DOUBLE

Orbit inclination. (Unit of measure is [deg])

 

128

64

Orbit RAAN

DOUBLE

Orbit RAAN. (Unit of measure is [deg])

 

192

64

Orbit eccentricity

DOUBLE

Orbit eccentricity

 

256

64

Orbit argument of perigee

DOUBLE

Orbit argument of perigee. (Unit of measure is [deg])

 

320

64

Orbit mean anomaly

DOUBLE

Orbit mean anomaly. (Unit of measure is [deg])

 

384

64

Orbit mean motion

DOUBLE

Orbit mean motion. (Unit of measure is [orbits/day])

 

448

64

Orbit B-star drag term

DOUBLE

Orbit B-star drag term

 

Table 137: Augmented SGP4 configuration Telemetry Format

ID

188

Frame Length (bytes)

13

Description

Augmented SGP4 configuration

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

Batch size

UINT

Number of GNSS measurements before computing updates TLEs

 

16

32

Max time between GNSS measurements

UINT

Maximum time between GNSS measurements before resetting filters. (Unit of measure is [s])

 

48

16

Max position error

UINT

Maximum position error for asgp4 to continue working. (Unit of measure is [km])

 

64

32

Time gain

FLOAT

Time offset compensation gain

 

96

1

Update RAAN and Inclination

BOOL

Update SGP4 RAAN and Inclination angles from GNSS

 

97

1

Update Eccentricity

BOOL

Update SGP4 Eccentricity from GNSS

 

98

1

Update AP and MA

BOOL

Update SGP4 Arg. Perigee and Mean Anomaly from GNSS

 

99

1

Update Time

BOOL

Update SGP4 Epoch from GNSS

 

Table 138: ADCS satellite configuration Telemetry Format

ID

189

Frame Length (bytes)

42

Description

ADCS satellite configuration

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Moment of inertia Ixx

FLOAT

Moment of inertia Ixx. (Unit of measure is [kg.m^2])

 

32

32

Moment of inertia Iyy

FLOAT

Moment of inertia Iyy. (Unit of measure is [kg.m^2])

 

64

32

Moment of inertia Izz

FLOAT

Moment of inertia Izz. (Unit of measure is [kg.m^2])

 

96

32

Product of inertia Ixy

FLOAT

Product of inertia Ixy. (Unit of measure is [kg.m^2])

 

128

32

Product of inertia Ixz

FLOAT

Product of inertia Ixz. (Unit of measure is [kg.m^2])

 

160

32

Product of inertia Iyz

FLOAT

Product of inertia Iyz. (Unit of measure is [kg.m^2])

 

192

16

Sun-pointing body vector X component

INT

Sun-pointing body vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

208

16

Sun-pointing body vector Y component

INT

Sun-pointing body vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

224

16

Sun-pointing body vector Z component

INT

Sun-pointing body vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

240

16

Target-tracking body vector X component

INT

Target-tracking body vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

256

16

Target-tracking body vector Y component

INT

Target-tracking body vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

272

16

Target-tracking body vector Z component

INT

Target-tracking body vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

288

16

Satellite-tracking body vector X component

INT

Satellite-tracking body vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

304

16

Satellite-tracking body vector Y component

INT

Satellite-tracking body vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

320

16

Satellite-tracking body vector Z component

INT

Satellite-tracking body vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

Table 139: ADCS controller configuration Telemetry Format

ID

190

Frame Length (bytes)

86

Description

ADCS controller configuration

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Default control mode

ENUM

Default control mode. Possible values are in Table 25

 

8

32

Detumbling damping gain

FLOAT

Detumbling damping gain (Kd)

 

40

32

Sun-spin control gain - sunlit part

FLOAT

Sun-spin control gain (KDsun)

 

72

32

Sun-spin control gain - eclipse part

FLOAT

Sun-spin control gain (KDecl)

 

104

32

Detumbling spin gain

FLOAT

Detumbling spin gain (Ks)

 

136

32

Fast B-dot detumbling gain

FLOAT

Fast B-dot detumbling gain (Kdf)

 

168

32

Y-momentum nutation damping gain

FLOAT

Y-momentum nutation damping gain (Kn)

 

200

32

Y-momentum nutation damping quaternion gain

FLOAT

Y-momentum nutation damping quaternion gain (Kq)

 

232

32

X-axis GG nutation damping quaternion gain

FLOAT

X-axis GG nutation damping quaternion gain (Kqx)

 

264

32

Y-axis GG nutation damping quaternion gain

FLOAT

Y-axis GG nutation damping quaternion gain (Kqy)

 

296

32

Z-axis GG nutation damping quaternion gain

FLOAT

Z-axis GG nutation damping quaternion gain (Kqz)

 

328

32

Wheel desaturation control gain

FLOAT

Wheel momentum dumping magnetic control gain (Kh)

 

360

32

Y-momentum proportional gain

FLOAT

Y-momentum proportional gain (Kp1)

 

392

32

Y-momentum derivative gain

FLOAT

Y-momentum derivative gain (Kd1)

 

424

32

RWheel proportional gain

FLOAT

RWheel proportional gain (Kp2)

 

456

32

RWheel derivative gain

FLOAT

RWheel derivative gain (Kd2)

 

488

32

Tracking proportional gain

FLOAT

Tracking proportional gain (Kp3)

 

520

32

Tracking derivative gain

FLOAT

Tracking derivative gain (Kd3)

 

552

32

Tracking integral gain

FLOAT

Tracking integral gain (Ki3)

 

584

32

Reference spin rate

FLOAT

Reference spin rate (wy-ref). (Unit of measure is [degps])

 

616

32

Reference wheel momentum

FLOAT

Reference wheel momentum (H-ref). Must always be smaller than 0. (Unit of measure is [Nms])

 

648

32

Y-wheel bias momentum during XYZ-control

FLOAT

Y-wheel bias momentum during XYZ-control (Hy-bias). (Unit of measure is [Nms])

 

680

1

Yaw compensation for earth rotation

BOOL

Perform yaw compensation for earth rotation in 3-axis RPY control

 

681

7

Reserved

PADDING

Reserved.

 

Table 140: Mag0 magnetometer in-orbit calibration configuration Telemetry Format

ID

191

Frame Length (bytes)

24

Description

Mag0 magnetometer in-orbit calibration configuration

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

Magnetometer channel 1 offset

INT

Magnetometer channel 1 offset. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

16

16

Magnetometer channel 2 offset

INT

Magnetometer channel 2 offset. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

32

16

Magnetometer channel 3 offset

INT

Magnetometer channel 3 offset. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

48

16

Magnetometer sensitivity matrix S11

INT

Magnetometer sensitivity matrix S11. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

64

16

Magnetometer sensitivity matrix S22

INT

Magnetometer sensitivity matrix S22. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

80

16

Magnetometer sensitivity matrix S33

INT

Magnetometer sensitivity matrix S33. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

96

16

Magnetometer sensitivity matrix S12

INT

Magnetometer sensitivity matrix S12. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

112

16

Magnetometer sensitivity matrix S13

INT

Magnetometer sensitivity matrix S13. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

128

16

Magnetometer sensitivity matrix S21

INT

Magnetometer sensitivity matrix S21. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

144

16

Magnetometer sensitivity matrix S23

INT

Magnetometer sensitivity matrix S23. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

160

16

Magnetometer sensitivity matrix S31

INT

Magnetometer sensitivity matrix S31. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

176

16

Magnetometer sensitivity matrix S32

INT

Magnetometer sensitivity matrix S32. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

Table 141: Default mode configuration Telemetry Format

ID

192

Frame Length (bytes)

4

Description

Default mode configuration

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Default ADCS run mode

ENUM

Default ADCS run mode. Possible values are in Table 23

 

8

8

Default ADCS operational state

ENUM

Default ADCS operational state. Possible values are in Table 34

 

16

8

Default control mode in OpStateSafe

ENUM

Default control mode in OpStateSafe. Possible values are in Table 25

 

24

8

Default control mode in OpStateAuto

ENUM

Default control mode in OpStateAuto. Possible values are in Table 25

 

Table 142: Mounting configuration Telemetry Format

ID

193

Frame Length (bytes)

98

Description

Mounting configuration

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

StackX mounting

ENUM

StackX mounting. Possible values are in Table 36

 

8

8

StackY mounting

ENUM

StackY mounting. Possible values are in Table 36

 

16

8

StackZ mounting

ENUM

StackZ mounting. Possible values are in Table 36

 

24

8

MTQ0 mounting

ENUM

MTQ0 mounting. Possible values are in Table 36

 

32

8

MTQ1 mounting

ENUM

MTQ1 mounting. Possible values are in Table 36

 

40

8

MTQ2 mounting

ENUM

MTQ2 mounting. Possible values are in Table 36

 

48

8

Wheel0 mounting

ENUM

Wheel0 mounting. Possible values are in Table 36

 

56

8

Wheel1 mounting

ENUM

Wheel1 mounting. Possible values are in Table 36

 

64

8

Wheel2 mounting

ENUM

Wheel2 mounting. Possible values are in Table 36

 

72

8

Wheel3 mounting

ENUM

Wheel3 mounting. Possible values are in Table 36

 

80

16

Pyramid RWL mounting alpha angle

INT

Pyramid RWL mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

96

16

Pyramid RWL mounting beta angle

INT

Pyramid RWL mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

112

16

Pyramid RWL mounting gamma angle

INT

Pyramid RWL mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

128

8

CSS0 mounting

ENUM

CSS0 mounting. Possible values are in Table 36

 

136

8

CSS1 mounting

ENUM

CSS1 mounting. Possible values are in Table 36

 

144

8

CSS2 mounting

ENUM

CSS2 mounting. Possible values are in Table 36

 

152

8

CSS3 mounting

ENUM

CSS3 mounting. Possible values are in Table 36

 

160

8

CSS4 mounting

ENUM

CSS4 mounting. Possible values are in Table 36

 

168

8

CSS5 mounting

ENUM

CSS5 mounting. Possible values are in Table 36

 

176

8

CSS6 mounting

ENUM

CSS6 mounting. Possible values are in Table 36

 

184

8

CSS7 mounting

ENUM

CSS7 mounting. Possible values are in Table 36

 

192

8

CSS8 mounting

ENUM

CSS8 mounting. Possible values are in Table 36

 

200

8

CSS9 mounting

ENUM

CSS9 mounting. Possible values are in Table 36

 

208

16

FSS0 mounting alpha angle

INT

FSS0 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

224

16

FSS0 mounting beta angle

INT

FSS0 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

240

16

FSS0 mounting gamma angle

INT

FSS0 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

256

16

FSS1 mounting alpha angle

INT

FSS1 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

272

16

FSS1 mounting beta angle

INT

FSS1 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

288

16

FSS1 mounting gamma angle

INT

FSS1 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

304

16

FSS2 mounting alpha angle

INT

FSS2 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

320

16

FSS2 mounting beta angle

INT

FSS2 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

336

16

FSS2 mounting gamma angle

INT

FSS2 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

352

16

FSS3 mounting alpha angle

INT

FSS3 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

368

16

FSS3 mounting beta angle

INT

FSS3 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

384

16

FSS3 mounting gamma angle

INT

FSS3 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

400

16

HSS0 mounting alpha angle

INT

HSS0 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

416

16

HSS0 mounting beta angle

INT

HSS0 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

432

16

HSS0 mounting gamma angle

INT

HSS0 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

448

16

HSS1 mounting alpha angle

INT

HSS1 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

464

16

HSS1 mounting beta angle

INT

HSS1 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

480

16

HSS1 mounting gamma angle

INT

HSS1 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

496

16

MAG0 mounting alpha angle

INT

MAG0 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

512

16

MAG0 mounting beta angle

INT

MAG0 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

528

16

MAG0 mounting gamma angle

INT

MAG0 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

544

16

MAG1 mounting alpha angle

INT

MAG1 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

560

16

MAG1 mounting beta angle

INT

MAG1 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

576

16

MAG1 mounting gamma angle

INT

MAG1 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

592

16

STR0 mounting alpha angle

INT

STR0 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

608

16

STR0 mounting beta angle

INT

STR0 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

624

16

STR0 mounting gamma angle

INT

STR0 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

640

16

STR1 mounting alpha angle

INT

STR1 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

656

16

STR1 mounting beta angle

INT

STR1 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

672

16

STR1 mounting gamma angle

INT

STR1 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

688

16

ExtSensor0 mounting alpha angle

INT

ExtSensor0 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

704

16

ExtSensor0 mounting beta angle

INT

ExtSensor0 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

720

16

ExtSensor0 mounting gamma angle

INT

ExtSensor0 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

736

16

ExtSensor1 mounting alpha angle

INT

ExtSensor1 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

752

16

ExtSensor1 mounting beta angle

INT

ExtSensor1 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

768

16

ExtSensor1 mounting gamma angle

INT

ExtSensor1 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

Table 143: Mag1 magnetometer in-orbit calibration configuration Telemetry Format

ID

194

Frame Length (bytes)

24

Description

Mag1 magnetometer in-orbit calibration configuration

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

Magnetometer channel 1 offset

INT

Magnetometer channel 1 offset. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

16

16

Magnetometer channel 2 offset

INT

Magnetometer channel 2 offset. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

32

16

Magnetometer channel 3 offset

INT

Magnetometer channel 3 offset. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

48

16

Magnetometer sensitivity matrix S11

INT

Magnetometer sensitivity matrix S11. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

64

16

Magnetometer sensitivity matrix S22

INT

Magnetometer sensitivity matrix S22. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

80

16

Magnetometer sensitivity matrix S33

INT

Magnetometer sensitivity matrix S33. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

96

16

Magnetometer sensitivity matrix S12

INT

Magnetometer sensitivity matrix S12. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

112

16

Magnetometer sensitivity matrix S13

INT

Magnetometer sensitivity matrix S13. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

128

16

Magnetometer sensitivity matrix S21

INT

Magnetometer sensitivity matrix S21. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

144

16

Magnetometer sensitivity matrix S23

INT

Magnetometer sensitivity matrix S23. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

160

16

Magnetometer sensitivity matrix S31

INT

Magnetometer sensitivity matrix S31. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

176

16

Magnetometer sensitivity matrix S32

INT

Magnetometer sensitivity matrix S32. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

Table 144: ADCS estimator configuration Telemetry Format

ID

195

Frame Length (bytes)

40

Description

ADCS estimator configuration

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Default main estimator mode

ENUM

Default main estimator mode. Possible values are in Table 39

 

8

8

Default backup estimator mode

ENUM

Default backup estimator mode. Possible values are in Table 39

 

16

32

MAG measurement noise

FLOAT

Magnetometer measurement noise

 

48

32

CSS measurement noise

FLOAT

Coarse sun sensor measurement noise

 

80

32

FSS measurement noise

FLOAT

Fine sun sensor measurement noise

 

112

32

HSS measurement noise

FLOAT

Horizon sensor measurement noise

 

144

32

STR measurement noise

FLOAT

Star tracker measurement noise

 

176

32

Magnetometer RKF system noise

FLOAT

Magnetometer RKF system noise

 

208

32

EKF system noise

FLOAT

EKF system noise

 

240

32

Nutation Epsilon correction

FLOAT

Polar nutation Epsilon correction. (Unit of measure is [rad])

 

272

32

Nutation Psi correction

FLOAT

Polar nutation Psi correction. (Unit of measure is [rad])

 

304

1

Use FSS in EKF

BOOL

Use fine sun sensor measurements in EKF

 

305

1

Use CSS in EKF

BOOL

Use coarse sun sensor measurements in EKF

 

306

1

Use HSS in EKF

BOOL

Use horizon sensor measurements in EKF

 

307

1

Use STR in EKF

BOOL

Use star tracker measurements in EKF

 

308

4

Triad Vector 1

ENUM

Vector 1 selection for Triad. Possible values are in Table 40

 

312

4

Triad Vector 2

ENUM

Vector 2 selection for Triad. Possible values are in Table 40

 

Table 145: Satellite orbit parameter configuration Telemetry Format

ID

196

Frame Length (bytes)

64

Description

Satellite orbit parameter configuration

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

64

Orbit epoch

DOUBLE

Orbit epoch. (Unit of measure is [yyddd.ssssssss])

 

64

64

Orbit inclination

DOUBLE

Orbit inclination. (Unit of measure is [deg])

 

128

64

Orbit RAAN

DOUBLE

Orbit RAAN. (Unit of measure is [deg])

 

192

64

Orbit eccentricity

DOUBLE

Orbit eccentricity

 

256

64

Orbit argument of perigee

DOUBLE

Orbit argument of perigee. (Unit of measure is [deg])

 

320

64

Orbit mean anomaly

DOUBLE

Orbit mean anomaly. (Unit of measure is [deg])

 

384

64

Orbit mean motion

DOUBLE

Orbit mean motion. (Unit of measure is [orbits/day])

 

448

64

Orbit B-star drag term

DOUBLE

Orbit B-star drag term

 

Table 146: Node selection configuration Telemetry Format

ID

197

Frame Length (bytes)

8

Description

Node selection configuration

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

RWL selection flags

UINT

RWL selection flags

 

8

8

MAG selection flags

UINT

MAG selection flags

 

16

8

FSS selection flags

UINT

FSS selection flags

 

24

8

HSS selection flags

UINT

HSS selection flags

 

32

8

GYR selection flags

UINT

GYR selection flags

 

40

8

STR selection flags

UINT

STR selection flags

 

48

8

GNSS selection flags

UINT

GNSS selection flags

 

56

8

External sensor selection flags

UINT

External sensor selection flags

 

Table 147: Magnetorquer configuration Telemetry Format

ID

198

Frame Length (bytes)

20

Description

Magnetorquer configuration

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

MTQ0 maximum dipole moment

FLOAT

MTQ0 maximum dipole moment. (Unit of measure is [A.m^2])

 

32

32

MTQ1 maximum dipole moment

FLOAT

MTQ1 maximum dipole moment. (Unit of measure is [A.m^2])

 

64

32

MTQ2 maximum dipole moment

FLOAT

MTQ2 maximum dipole moment. (Unit of measure is [A.m^2])

 

96

16

Maximum magnetorquer on-time

UINT

Maximum magnetorquer on-time. (Unit of measure is [ms])

 

112

16

Minimum magnetorquer on-time

UINT

Minimum magnetorquer on-time. (Unit of measure is [ms])

 

128

32

Magnetic control filter factor

FLOAT

LPF factor for magnetorquer commands. Set to zero for no filtering

 

Table 148: Estimation mode Telemetry Format

ID

199

Frame Length (bytes)

2

Description

Estimation mode

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Main estimator mode

ENUM

Main estimator mode. Possible values are in Table 39

 

8

8

Backup estimator mode

ENUM

Backup estimator mode. Possible values are in Table 39

 

Table 149: ADCS operational state Telemetry Format

ID

200

Frame Length (bytes)

1

Description

ADCS operational state

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

ADCS operational state

ENUM

ADCS operational state. Possible values are in Table 34

 

Table 150: Simulation raw sensor telemetry Telemetry Format

ID

201

Frame Length (bytes)

277

Description

Simulation raw sensor telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

16

FSS0 raw centroid X

INT

FSS0 raw centroid X. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01

 

80

16

FSS0 raw centroid Y

INT

FSS0 raw centroid Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01

 

96

16

FSS1 raw centroid X

INT

FSS1 raw centroid X. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01

 

112

16

FSS1 raw centroid Y

INT

FSS1 raw centroid Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01

 

128

16

FSS2 raw centroid X

INT

FSS2 raw centroid X. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01

 

144

16

FSS2 raw centroid Y

INT

FSS2 raw centroid Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01

 

160

16

FSS3 raw centroid X

INT

FSS3 raw centroid X. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01

 

176

16

FSS3 raw centroid Y

INT

FSS3 raw centroid Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01

 

192

16

CSS0 raw measurement

UINT

CSS0 raw measurement

 

208

16

CSS1 raw measurement

UINT

CSS1 raw measurement

 

224

16

CSS2 raw measurement

UINT

CSS2 raw measurement

 

240

16

CSS3 raw measurement

UINT

CSS3 raw measurement

 

256

16

CSS4 raw measurement

UINT

CSS4 raw measurement

 

272

16

CSS5 raw measurement

UINT

CSS5 raw measurement

 

288

16

CSS6 raw measurement

UINT

CSS6 raw measurement

 

304

16

CSS7 raw measurement

UINT

CSS7 raw measurement

 

320

16

CSS8 raw measurement

UINT

CSS8 raw measurement

 

336

16

CSS9 raw measurement

UINT

CSS9 raw measurement

 

352

16

MAG0 raw vector X component

INT

MAG0 raw vector X component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

368

16

MAG0 raw vector Y component

INT

MAG0 raw vector Y component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

384

16

MAG0 raw vector Z component

INT

MAG0 raw vector Z component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

400

16

MAG1 raw vector X component

INT

MAG1 raw vector X component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

416

16

MAG1 raw vector Y component

INT

MAG1 raw vector Y component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

432

16

MAG1 raw vector Z component

INT

MAG1 raw vector Z component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01

 

448

32

GYR0 raw rate X component

FLOAT

GYR0 raw rate X component. (Unit of measure is [degps])

 

480

32

GYR0 raw rate Y component

FLOAT

GYR0 raw rate Y component. (Unit of measure is [degps])

 

512

32

GYR0 raw rate Z component

FLOAT

GYR0 raw rate Z component. (Unit of measure is [degps])

 

544

32

GYR1 raw rate X component

FLOAT

GYR1 raw rate X component. (Unit of measure is [degps])

 

576

32

GYR1 raw rate Y component

FLOAT

GYR1 raw rate Y component. (Unit of measure is [degps])

 

608

32

GYR1 raw rate Z component

FLOAT

GYR1 raw rate Z component. (Unit of measure is [degps])

 

640

16

HSS0 raw elevation angle

INT

HSS0 raw elevation angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

656

16

HSS0 raw rotation angle

INT

HSS0 raw rotation angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

672

16

HSS1 raw elevation angle

INT

HSS1 raw elevation angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

688

16

HSS1 raw rotation angle

INT

HSS1 raw rotation angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

704

16

STR0 measured vector 0 X component

INT

STR0 measured vector 0 X component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

720

16

STR0 measured vector 0 Y component

INT

STR0 measured vector 0 Y component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

736

16

STR0 measured vector 0 Z component

INT

STR0 measured vector 0 Z component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

752

16

STR0 measured vector 1 X component

INT

STR0 measured vector 1 X component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

768

16

STR0 measured vector 1 Y component

INT

STR0 measured vector 1 Y component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

784

16

STR0 measured vector 1 Z component

INT

STR0 measured vector 1 Z component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

800

16

STR0 measured vector 2 X component

INT

STR0 measured vector 2 X component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

816

16

STR0 measured vector 2 Y component

INT

STR0 measured vector 2 Y component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

832

16

STR0 measured vector 2 Z component

INT

STR0 measured vector 2 Z component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

848

16

STR0 modelled vector 0 X component

INT

STR0 modelled vector 0 X component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

864

16

STR0 modelled vector 0 Y component

INT

STR0 modelled vector 0 Y component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

880

16

STR0 modelled vector 0 Z component

INT

STR0 modelled vector 0 Z component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

896

16

STR0 modelled vector 1 X component

INT

STR0 modelled vector 1 X component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

912

16

STR0 modelled vector 1 Y component

INT

STR0 modelled vector 1 Y component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

928

16

STR0 modelled vector 1 Z component

INT

STR0 modelled vector 1 Z component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

944

16

STR0 modelled vector 2 X component

INT

STR0 modelled vector 2 X component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

960

16

STR0 modelled vector 2 Y component

INT

STR0 modelled vector 2 Y component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

976

16

STR0 modelled vector 2 Z component

INT

STR0 modelled vector 2 Z component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

992

16

STR0 measured quaternion Q0 (sensor to IRC frame)

INT

STR0 measured quaternion Q0 (sensor to IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1008

16

STR0 measured quaternion Q1 (sensor to IRC frame)

INT

STR0 measured quaternion Q1 (sensor to IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1024

16

STR0 measured quaternion Q2 (sensor to IRC frame)

INT

STR0 measured quaternion Q2 (sensor to IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1040

16

STR0 measured quaternion Q3 (sensor to IRC frame)

INT

STR0 measured quaternion Q3 (sensor to IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1056

8

STR0 number of identified stars

UINT

STR0 number of identified stars

 

1064

16

STR1 measured vector 0 X component

INT

STR1 measured vector 0 X component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1080

16

STR1 measured vector 0 Y component

INT

STR1 measured vector 0 Y component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1096

16

STR1 measured vector 0 Z component

INT

STR1 measured vector 0 Z component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1112

16

STR1 measured vector 1 X component

INT

STR1 measured vector 1 X component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1128

16

STR1 measured vector 1 Y component

INT

STR1 measured vector 1 Y component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1144

16

STR1 measured vector 1 Z component

INT

STR1 measured vector 1 Z component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1160

16

STR1 measured vector 2 X component

INT

STR1 measured vector 2 X component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1176

16

STR1 measured vector 2 Y component

INT

STR1 measured vector 2 Y component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1192

16

STR1 measured vector 2 Z component

INT

STR1 measured vector 2 Z component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1208

16

STR1 modelled vector 0 X component

INT

STR1 modelled vector 0 X component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1224

16

STR1 modelled vector 0 Y component

INT

STR1 modelled vector 0 Y component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1240

16

STR1 modelled vector 0 Z component

INT

STR1 modelled vector 0 Z component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1256

16

STR1 modelled vector 1 X component

INT

STR1 modelled vector 1 X component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1272

16

STR1 modelled vector 1 Y component

INT

STR1 modelled vector 1 Y component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1288

16

STR1 modelled vector 1 Z component

INT

STR1 modelled vector 1 Z component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1304

16

STR1 modelled vector 2 X component

INT

STR1 modelled vector 2 X component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1320

16

STR1 modelled vector 2 Y component

INT

STR1 modelled vector 2 Y component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1336

16

STR1 modelled vector 2 Z component

INT

STR1 modelled vector 2 Z component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1352

16

STR1 measured quaternion Q0 (sensor to IRC frame)

INT

STR1 measured quaternion Q0 (sensor to IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1368

16

STR1 measured quaternion Q1 (sensor to IRC frame)

INT

STR1 measured quaternion Q1 (sensor to IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1384

16

STR1 measured quaternion Q2 (sensor to IRC frame)

INT

STR1 measured quaternion Q2 (sensor to IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1400

16

STR1 measured quaternion Q3 (sensor to IRC frame)

INT

STR1 measured quaternion Q3 (sensor to IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

1416

8

STR1 number of identified stars

UINT

STR1 number of identified stars

 

1424

32

GNSS Time integer seconds

UINT

GNSS Unix time integer seconds. (Unit of measure is [s])

 

1456

32

GNSS Time nanoseconds

UINT

GNSS Unix time fraction nanoseconds. (Unit of measure is [ns])

 

1488

32

Satellite position vector X component (GNSS frame)

INT

Satellite position vector X component (GNSS frame). (Unit of measure is [cm])

 

1520

32

Satellite position vector Y component (GNSS frame)

INT

Satellite position vector Y component (GNSS frame). (Unit of measure is [cm])

 

1552

32

Satellite position vector Z component (GNSS frame)

INT

Satellite position vector Z component (GNSS frame). (Unit of measure is [cm])

 

1584

32

Satellite velocity vector X component (GNSS frame)

INT

Satellite velocity vector X component (GNSS frame). (Unit of measure is [cm/s])

 

1616

32

Satellite velocity vector Y component (GNSS frame)

INT

Satellite velocity vector Y component (GNSS frame). (Unit of measure is [cm/s])

 

1648

32

Satellite velocity vector Z component (GNSS frame)

INT

Satellite velocity vector Z component (GNSS frame). (Unit of measure is [cm/s])

 

1680

32

ExtSensor0 raw measurement float 0

FLOAT

ExtSensor0 raw measurement float 0

 

1712

32

ExtSensor0 raw measurement float 1

FLOAT

ExtSensor0 raw measurement float 1

 

1744

32

ExtSensor0 raw measurement float 2

FLOAT

ExtSensor0 raw measurement float 2

 

1776

32

ExtSensor0 raw measurement float 3

FLOAT

ExtSensor0 raw measurement float 3

 

1808

32

ExtSensor0 raw measurement float 4

FLOAT

ExtSensor0 raw measurement float 4

 

1840

32

ExtSensor0 raw measurement float 5

FLOAT

ExtSensor0 raw measurement float 5

 

1872

32

ExtSensor1 raw measurement float 0

FLOAT

ExtSensor1 raw measurement float 0

 

1904

32

ExtSensor1 raw measurement float 1

FLOAT

ExtSensor1 raw measurement float 1

 

1936

32

ExtSensor1 raw measurement float 2

FLOAT

ExtSensor1 raw measurement float 2

 

1968

32

ExtSensor1 raw measurement float 3

FLOAT

ExtSensor1 raw measurement float 3

 

2000

32

ExtSensor1 raw measurement float 4

FLOAT

ExtSensor1 raw measurement float 4

 

2032

32

ExtSensor1 raw measurement float 5

FLOAT

ExtSensor1 raw measurement float 5

 

2064

32

RWL0 raw speed measurement

FLOAT

RWL0 raw speed measurement. (Unit of measure is [rpm])

 

2096

32

RWL1 raw speed measurement

FLOAT

RWL1 raw speed measurement. (Unit of measure is [rpm])

 

2128

32

RWL2 raw speed measurement

FLOAT

RWL2 raw speed measurement. (Unit of measure is [rpm])

 

2160

32

RWL3 raw speed measurement

FLOAT

RWL3 raw speed measurement. (Unit of measure is [rpm])

 

2192

1

FSS0 valid flag

BOOL

FSS0 valid flag

 

2193

1

FSS1 valid flag

BOOL

FSS1 valid flag

 

2194

1

FSS2 valid flag

BOOL

FSS2 valid flag

 

2195

1

FSS3 valid flag

BOOL

FSS3 valid flag

 

2196

1

CSS valid flag

BOOL

CSS valid flag

 

2197

1

MAG0 valid flag

BOOL

MAG0 valid flag

 

2198

1

MAG1 valid flag

BOOL

MAG1 valid flag

 

2199

1

GYR0 valid flag

BOOL

GYR0 valid flag

 

2200

1

GYR1 valid flag

BOOL

GYR1 valid flag

 

2201

1

HSS0 valid flag

BOOL

HSS0 valid flag

 

2202

1

HSS1 valid flag

BOOL

HSS1 valid flag

 

2203

1

STR0 valid flag

BOOL

STR0 valid flag

 

2204

1

STR1 valid flag

BOOL

STR1 valid flag

 

2205

1

GNSS valid flag

BOOL

GNSS valid flag

 

2206

1

GNSS new nav message flag

BOOL

GNSS new flag

 

2207

1

ExtSensor0 valid flag

BOOL

ExtSensor0 valid flag

 

2208

1

ExtSensor1 valid flag

BOOL

ExtSensor1 valid flag

 

2209

1

RWL0 valid flag

BOOL

RWL0 valid flag

 

2210

1

RWL1 valid flag

BOOL

RWL1 valid flag

 

2211

1

RWL2 valid flag

BOOL

RWL2 valid flag

 

2212

1

RWL3 valid flag

BOOL

RWL3 valid flag

 

Table 151: OpenLoopCommandRwl Telemetry Format

ID

202

Frame Length (bytes)

16

Description

OpenLoopCommandRwl

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

RWL0 open-loop speed command

FLOAT

RWL0 open-loop speed command

 

32

32

RWL1 open-loop speed command

FLOAT

RWL1 open-loop speed command

 

64

32

RWL2 open-loop speed command

FLOAT

RWL2 open-loop speed command

 

96

32

RWL3 open-loop speed command

FLOAT

RWL3 open-loop speed command

 

Table 152: Raw CSS sensor telemetry Telemetry Format

ID

203

Frame Length (bytes)

19

Description

Raw CSS sensor telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

8

CSS0 raw measurement

UINT

CSS0 raw measurement

 

72

8

CSS1 raw measurement

UINT

CSS1 raw measurement

 

80

8

CSS2 raw measurement

UINT

CSS2 raw measurement

 

88

8

CSS3 raw measurement

UINT

CSS3 raw measurement

 

96

8

CSS4 raw measurement

UINT

CSS4 raw measurement

 

104

8

CSS5 raw measurement

UINT

CSS5 raw measurement

 

112

8

CSS6 raw measurement

UINT

CSS6 raw measurement

 

120

8

CSS7 raw measurement

UINT

CSS7 raw measurement

 

128

8

CSS8 raw measurement

UINT

CSS8 raw measurement

 

136

8

CSS9 raw measurement

UINT

CSS9 raw measurement

 

144

1

CSS valid flag

BOOL

CSS valid flag

 

Table 153: Raw GYR sensor telemetry Telemetry Format

ID

204

Frame Length (bytes)

33

Description

Raw GYRO sensor telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

32

GYR0 raw rate X component

FLOAT

GYR0 raw rate X component. (Unit of measure is [degps])

 

96

32

GYR0 raw rate Y component

FLOAT

GYR0 raw rate Y component. (Unit of measure is [degps])

 

128

32

GYR0 raw rate Z component

FLOAT

GYR0 raw rate Z component. (Unit of measure is [degps])

 

160

32

GYR1 raw rate X component

FLOAT

GYR1 raw rate X component. (Unit of measure is [degps])

 

192

32

GYR1 raw rate Y component

FLOAT

GYR1 raw rate Y component. (Unit of measure is [degps])

 

224

32

GYR1 raw rate Z component

FLOAT

GYR1 raw rate Z component. (Unit of measure is [degps])

 

256

1

GYR0 valid flag

BOOL

GYR0 valid flag

 

257

1

GYR1 valid flag

BOOL

GYR1 valid flag

 

Table 154: Raw RWL sensor telemetry Telemetry Format

ID

205

Frame Length (bytes)

25

Description

Raw RWL sensor telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

32

RWL0 measured speed

FLOAT

RWL0 measured speed. (Unit of measure is [rpm])

 

96

32

RWL1 measured speed

FLOAT

RWL1 measured speed. (Unit of measure is [rpm])

 

128

32

RWL2 measured speed

FLOAT

RWL2 measured speed. (Unit of measure is [rpm])

 

160

32

RWL3 measured speed

FLOAT

RWL3 measured speed. (Unit of measure is [rpm])

 

192

1

RWL0 valid flag

BOOL

RWL0 valid flag

 

193

1

RWL1 valid flag

BOOL

RWL1 valid flag

 

194

1

RWL2 valid flag

BOOL

RWL2 valid flag

 

195

1

RWL3 valid flag

BOOL

RWL3 valid flag

 

Table 155: Calibrated CSS sensor telemetry Telemetry Format

ID

206

Frame Length (bytes)

15

Description

Calibrated CSS sensor telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

16

CSS calibrated unit vector X component

INT

CSS calibrated unit vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

80

16

CSS calibrated unit vector Y component

INT

CSS calibrated unit vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

96

16

CSS calibrated unit vector Z component

INT

CSS calibrated unit vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

112

1

CSS valid flag

BOOL

CSS valid flag

 

Table 156: Calibrated GYR sensor telemetry Telemetry Format

ID

207

Frame Length (bytes)

57

Description

Calibrated GYRO sensor telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

32

GYR0 calibrated rate X component

FLOAT

GYR0 calibrated rate X component. (Unit of measure is [degps])

 

96

32

GYR0 calibrated rate Y component

FLOAT

GYR0 calibrated rate Y component. (Unit of measure is [degps])

 

128

32

GYR0 calibrated rate Z component

FLOAT

GYR0 calibrated rate Z component. (Unit of measure is [degps])

 

160

32

GYR1 calibrated rate X component

FLOAT

GYR1 calibrated rate X component. (Unit of measure is [degps])

 

192

32

GYR1 calibrated rate Y component

FLOAT

GYR1 calibrated rate Y component. (Unit of measure is [degps])

 

224

32

GYR1 calibrated rate Z component

FLOAT

GYR1 calibrated rate Z component. (Unit of measure is [degps])

 

256

32

EXTGYR0 calibrated rate X component

FLOAT

EXTGYR0 calibrated rate X component. (Unit of measure is [degps])

 

288

32

EXTGYR0 calibrated rate Y component

FLOAT

EXTGYR0 calibrated rate Y component. (Unit of measure is [degps])

 

320

32

EXTGYR0 calibrated rate Z component

FLOAT

EXTGYR0 calibrated rate Z component. (Unit of measure is [degps])

 

352

32

EXTGYR1 calibrated rate X component

FLOAT

EXTGYR1 calibrated rate X component. (Unit of measure is [degps])

 

384

32

EXTGYR1 calibrated rate Y component

FLOAT

EXTGYR1 calibrated rate Y component. (Unit of measure is [degps])

 

416

32

EXTGYR1 calibrated rate Z component

FLOAT

EXTGYR1 calibrated rate Z component. (Unit of measure is [degps])

 

448

1

GYR0 valid flag

BOOL

GYR0 valid flag

 

449

1

GYR1 valid flag

BOOL

GYR1 valid flag

 

450

1

EXTGYR0 valid flag

BOOL

EXTGYR0 valid flag

 

451

1

EXTGYR1 valid flag

BOOL

EXTGYR1 valid flag

 

Table 157: Calibrated STR sensor telemetry Telemetry Format

ID

208

Frame Length (bytes)

81

Description

Calibrated STR sensor telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

16

STR0 measured body vector 0 X component

INT

STR0 measured body vector 0 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

80

16

STR0 measured body vector 0 Y component

INT

STR0 measured body vector 0 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

96

16

STR0 measured body vector 0 Z component

INT

STR0 measured body vector 0 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

112

16

STR0 measured body vector 1 X component

INT

STR0 measured body vector 1 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

128

16

STR0 measured body vector 1 Y component

INT

STR0 measured body vector 1 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

144

16

STR0 measured body vector 1 Z component

INT

STR0 measured body vector 1 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

160

16

STR0 measured body vector 2 X component

INT

STR0 measured body vector 2 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

176

16

STR0 measured body vector 2 Y component

INT

STR0 measured body vector 2 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

192

16

STR0 measured body vector 2 Z component

INT

STR0 measured body vector 2 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

208

16

STR0 modelled ORC vector 0 X component

INT

STR0 modelled ORC vector 0 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

224

16

STR0 modelled ORC vector 0 Y component

INT

STR0 modelled ORC vector 0 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

240

16

STR0 modelled ORC vector 0 Z component

INT

STR0 modelled ORC vector 0 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

256

16

STR0 modelled ORC vector 1 X component

INT

STR0 modelled ORC vector 1 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

272

16

STR0 modelled ORC vector 1 Y component

INT

STR0 modelled ORC vector 1 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

288

16

STR0 modelled ORC vector 1 Z component

INT

STR0 modelled ORC vector 1 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

304

16

STR0 modelled ORC vector 2 X component

INT

STR0 modelled ORC vector 2 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

320

16

STR0 modelled ORC vector 2 Y component

INT

STR0 modelled ORC vector 2 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

336

16

STR0 modelled ORC vector 2 Z component

INT

STR0 modelled ORC vector 2 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

352

16

STR1 measured body vector 0 X component

INT

STR1 measured body vector 0 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

368

16

STR1 measured body vector 0 Y component

INT

STR1 measured body vector 0 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

384

16

STR1 measured body vector 0 Z component

INT

STR1 measured body vector 0 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

400

16

STR1 measured body vector 1 X component

INT

STR1 measured body vector 1 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

416

16

STR1 measured body vector 1 Y component

INT

STR1 measured body vector 1 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

432

16

STR1 measured body vector 1 Z component

INT

STR1 measured body vector 1 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

448

16

STR1 measured body vector 2 X component

INT

STR1 measured body vector 2 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

464

16

STR1 measured body vector 2 Y component

INT

STR1 measured body vector 2 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

480

16

STR1 measured body vector 2 Z component

INT

STR1 measured body vector 2 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

496

16

STR1 modelled ORC vector 0 X component

INT

STR1 modelled ORC vector 0 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

512

16

STR1 modelled ORC vector 0 Y component

INT

STR1 modelled ORC vector 0 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

528

16

STR1 modelled ORC vector 0 Z component

INT

STR1 modelled ORC vector 0 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

544

16

STR1 modelled ORC vector 1 X component

INT

STR1 modelled ORC vector 1 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

560

16

STR1 modelled ORC vector 1 Y component

INT

STR1 modelled ORC vector 1 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

576

16

STR1 modelled ORC vector 1 Z component

INT

STR1 modelled ORC vector 1 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

592

16

STR1 modelled ORC vector 2 X component

INT

STR1 modelled ORC vector 2 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

608

16

STR1 modelled ORC vector 2 Y component

INT

STR1 modelled ORC vector 2 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

624

16

STR1 modelled ORC vector 2 Z component

INT

STR1 modelled ORC vector 2 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

640

1

STR0 valid flag

BOOL

STR0 valid flag

 

641

1

STR1 valid flag

BOOL

STR1 valid flag

 

Table 158: Calibrated RWL sensor telemetry Telemetry Format

ID

209

Frame Length (bytes)

33

Description

Calibrated RWL sensor telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

32

Wheel SBC torque vector X component

FLOAT

Wheel SBC torque vector X component. (Unit of measure is [N.m])

 

96

32

Wheel SBC torque vector Y component

FLOAT

Wheel SBC torque vector Y component. (Unit of measure is [N.m])

 

128

32

Wheel SBC torque vector Z component

FLOAT

Wheel SBC torque vector Z component. (Unit of measure is [N.m])

 

160

32

Wheel SBC momentum vector X component

FLOAT

Wheel SBC momentum vector X component. (Unit of measure is [N.m.s])

 

192

32

Wheel SBC momentum vector Y component

FLOAT

Wheel SBC momentum vector Y component. (Unit of measure is [N.m.s])

 

224

32

Wheel SBC momentum vector Z component

FLOAT

Wheel SBC momentum vector Z component. (Unit of measure is [N.m.s])

 

256

1

RWL valid flag

BOOL

RWL valid flag

 

Table 159: Main estimator telemetry Telemetry Format

ID

210

Frame Length (bytes)

71

Description

Main estimator telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

16

Estimated roll angle

INT

Estimated roll angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

80

16

Estimated pitch angle

INT

Estimated pitch angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

96

16

Estimated yaw angle

INT

Estimated yaw angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

112

16

Estimated ORC quaternion Q0

INT

Estimated ORC quaternion Q0. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

128

16

Estimated ORC quaternion Q1

INT

Estimated ORC quaternion Q1. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

144

16

Estimated ORC quaternion Q2

INT

Estimated ORC quaternion Q2. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

160

16

Estimated ORC quaternion Q3

INT

Estimated ORC quaternion Q3. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

176

16

Estimated gyro bias X component

INT

Estimated gyro bias X component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.0001

 

192

16

Estimated gyro bias Y component

INT

Estimated gyro bias Y component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.0001

 

208

16

Estimated gyro bias Z component

INT

Estimated gyro bias Z component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.0001

 

224

16

Estimated body rate (ORC) X component

INT

Estimated body rate (ORC) X component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01

 

240

16

Estimated body rate (ORC) Y component

INT

Estimated body rate (ORC) Y component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01

 

256

16

Estimated body rate (ORC) Z component

INT

Estimated body rate (ORC) Z component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01

 

272

16

Estimated body rate (IRC) X component

INT

Estimated body rate (IRC) X component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01

 

288

16

Estimated body rate (IRC) Y component

INT

Estimated body rate (IRC) Y component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01

 

304

16

Estimated body rate (IRC) Z component

INT

Estimated body rate (IRC) Z component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01

 

320

32

Estimated gyroscopic torque X component

FLOAT

Estimated gyroscopic torque X component. (Unit of measure is [N.m])

 

352

32

Estimated gyroscopic torque Y component

FLOAT

Estimated gyroscopic torque Y component. (Unit of measure is [N.m])

 

384

32

Estimated gyroscopic torque Z component

FLOAT

Estimated gyroscopic torque Z component. (Unit of measure is [N.m])

 

416

16

Innovation vector X component

INT

Innovation vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

432

16

Innovation vector Y component

INT

Innovation vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

448

16

Innovation vector Z component

INT

Innovation vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

464

16

StdDev of estimated rate X component

INT

StdDev of estimated rate X component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.001

 

480

16

StdDev of estimated rate Y component

INT

StdDev of estimated rate Y component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.001

 

496

16

StdDev of estimated rate Z component

INT

StdDev of estimated rate Z component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.001

 

512

16

StdDev of estimated quaternion Q0 component

INT

StdDev of estimated quaternion Q0 component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

528

16

StdDev of estimated quaternion Q1 component

INT

StdDev of estimated quaternion Q1 component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

544

16

StdDev of estimated quaternion Q2 component

INT

StdDev of estimated quaternion Q2 component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

 

560

8

Active estimator mode

ENUM

Active estimator mode. Possible values are in Table 39

 

Table 160: Main estimator high-resolution telemetry Telemetry Format

ID

211

Frame Length (bytes)

36

Description

Main estimator high-resolution telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

32

Estimated ORC quaternion Q0

FLOAT

Estimated ORC quaternion Q0

 

96

32

Estimated ORC quaternion Q1

FLOAT

Estimated ORC quaternion Q1

 

128

32

Estimated ORC quaternion Q2

FLOAT

Estimated ORC quaternion Q2

 

160

32

Estimated ORC quaternion Q3

FLOAT

Estimated ORC quaternion Q3

 

192

32

Estimated body rate (ORC) X component

FLOAT

Estimated body rate (ORC) X component. (Unit of measure is [degps])

 

224

32

Estimated body rate (ORC) Y component

FLOAT

Estimated body rate (ORC) Y component. (Unit of measure is [degps])

 

256

32

Estimated body rate (ORC) Z component

FLOAT

Estimated body rate (ORC) Z component. (Unit of measure is [degps])

 

Table 161: Raw GNSS sensor telemetry Telemetry Format

ID

212

Frame Length (bytes)

52

Description

Raw GNSS sensor telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

RTC Time (s)

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

RTC Time (ns)

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

32

RTC Drift (ns)

INT

Drift per second. (Unit of measure is [ns])

 

96

32

Satellite ECEF position vector X component

FLOAT

Satellite ECEF position vector X component. (Unit of measure is [m])

 

128

32

Satellite ECEF position vector Y component

FLOAT

Satellite ECEF position vector Y component. (Unit of measure is [m])

 

160

32

Satellite ECEF position vector Z component

FLOAT

Satellite ECEF position vector Z component. (Unit of measure is [m])

 

192

32

Satellite ECEF velocity vector X component

FLOAT

Satellite ECEF velocity vector X component. (Unit of measure is [m/s])

 

224

32

Satellite ECEF velocity vector Y component

FLOAT

Satellite ECEF velocity vector Y component. (Unit of measure is [m/s])

 

256

32

Satellite ECEF velocity vector Z component

FLOAT

Satellite ECEF velocity vector Z component. (Unit of measure is [m/s])

 

288

32

GNSS-supplied unix time integer seconds

UINT

GNSS-supplied unix time integer seconds. (Unit of measure is [s])

 

320

32

GNSS-supplied unix time nanoseconds

UINT

GNSS-supplied unix time nanoseconds. (Unit of measure is [ns])

 

352

16

GPS week number

UINT

GPS week number

 

368

32

GNSS Time of Week

UINT

GNSS Time of Week. (Unit of measure is [ms])

 

400

8

GNSS UTC Offset

INT

Offset between GNSS time and UTC. (Unit of measure is [s])

 

408

1

GNSS data is valid

BOOL

GNSS data is valid, but may be outdated

 

409

1

GNSS has lock

BOOL

GNSS has lock, data most recent

 

410

1

GNSS PPS Detected

BOOL

GNSS PPS Detected by ADCS HW

 

Table 162: Raw PST3S star tracker telemetry Telemetry Format

ID

213

Frame Length (bytes)

134

Description

Raw PST3S star tracker telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

8

STR0 PST3S Version

ENUM

STR0 PST3S Version. Possible values are in Table 163

 

72

32

STR0 Quaternion 1

FLOAT

PST3S Quaternion 1

 

104

32

STR0 Quaternion 2

FLOAT

PST3S Quaternion 2

 

136

32

STR0 Quaternion 3

FLOAT

PST3S Quaternion 3

 

168

32

STR0 Quaternion 4

FLOAT

PST3S Quaternion 4

 

200

32

STR0 Angular Velocity X

FLOAT

PST3S Angular Valocity X. (Unit of measure is [degps])

 

232

32

STR0 Angular Velocity Y

FLOAT

PST3S Angular Valocity Y. (Unit of measure is [degps])

 

264

32

STR0 Angular Velocity Z

FLOAT

PST3S Angular Valocity Z. (Unit of measure is [degps])

 

296

8

STR0 Rate Quality

ENUM

PST3S Rate Quality. Possible values are in Table 164

 

304

32

STR0 Unix Seconds

UINT

PST3S Unix Seconds. (Unit of measure is [S])

 

336

32

STR0 Unix Seconds Decimal

FLOAT

PST3S Unix Seconds Decimal. (Unit of measure is [S])

 

368

8

STR0 Temperature

INT

PST3S Temperature. (Unit of measure is [C])

 

376

8

STR0 Image Exposure

UINT

PST3S Image Exposure

 

384

8

STR0 Image Threshold

UINT

PST3S Image Threshold

 

392

8

STR0 Background Values

UINT

PST3S BackGround Values

 

400

8

STR0 Internal Process Code

UINT

PST3S Internal Process Code

 

408

4

STR0 CMOS Chip ID Self-test Result

ENUM

PST3S CMOS Chip ID Self-test Result. Possible values are in Table 165

 

412

4

STR0 FPGA MRAM Self-test Result

ENUM

PST3S FPGA MRAM Self-test Result. Possible values are in Table 165

 

416

8

STR0 Number of Extracted Stars

UINT

PST3S Number of Extracted Stars

 

424

8

STR0 Operating Mode

ENUM

PST3S Operating Mode. Possible values are in Table 166

 

432

8

STR0 Imaging Gain

UINT

PST3S Imaging Gain

 

440

8

STR0 Minimum Navigation Stars

UINT

PST3S Minimum Navigation Stars When Quaternion is Valid

 

448

4

STR0 Data Valid

ENUM

PST3S Data Valid. Possible values are in Table 167

 

452

4

STR0 External Image State

ENUM

PST3S External Image State. Possible values are in Table 168

 

456

8

STR0 Number of Identified Stars

UINT

PST3S Number of Identified Stars

 

464

8

STR0 Device Number

UINT

PST3S Device Number

 

472

8

STR0 Software Version

UINT

PST3S Software Version

 

480

8

STR0 EDAC Error Count

UINT

PST3S EDAC Error Count

 

488

32

STR0 Image Frame Number

UINT

PST3S Image Frame Number

 

520

4

STR0 Dynamic Mode

ENUM

PST3S Dynamic Mode. Possible values are in Table 169

 

524

4

STR0 SAA Mode

ENUM

PST3S SAA Mode. Possible values are in Table 170

 

528

8

STR0 SAA Threshold

UINT

PST3S SAA Threshold

 

536

8

STR0 Quaternion Filtering State

ENUM

PST3S Quaternion Filtering State. Possible values are in Table 171

 

544

8

STR0 Four Star Capture Threshold

UINT

PST3S Four Star Capture Threshold

 

552

8

STR0 Tracking Threshold

UINT

PST3S Tracking Threshold

 

560

1

STR0 EDAC Switch

BOOL

PST3S EDAC Enabled/Disabled

 

561

7

Reserved

PADDING

Reserved.

 

568

8

STR1 PST3S Version

ENUM

STR1 PST3S Version. Possible values are in Table 163

 

576

32

STR1 Quaternion 1

FLOAT

PST3S Quaternion 1

 

608

32

STR1 Quaternion 2

FLOAT

PST3S Quaternion 2

 

640

32

STR1 Quaternion 3

FLOAT

PST3S Quaternion 3

 

672

32

STR1 Quaternion 4

FLOAT

PST3S Quaternion 4

 

704

32

STR1 Angular Velocity X

FLOAT

PST3S Angular Valocity X. (Unit of measure is [degps])

 

736

32

STR1 Angular Velocity Y

FLOAT

PST3S Angular Valocity Y. (Unit of measure is [degps])

 

768

32

STR1 Angular Velocity Z

FLOAT

PST3S Angular Valocity Z. (Unit of measure is [degps])

 

800

8

STR1 Rate Quality

ENUM

PST3S Rate Quality. Possible values are in Table 164

 

808

32

STR1 Unix Seconds

UINT

PST3S Unix Seconds. (Unit of measure is [S])

 

840

32

STR1 Unix Seconds Decimal

FLOAT

PST3S Unix Seconds Decimal. (Unit of measure is [S])

 

872

8

STR1 Temperature

INT

PST3S Temperature. (Unit of measure is [C])

 

880

8

STR1 Image Exposure

UINT

PST3S Image Exposure

 

888

8

STR1 Image Threshold

UINT

PST3S Image Threshold

 

896

8

STR1 Background Values

UINT

PST3S BackGround Values

 

904

8

STR1 Internal Process Code

UINT

PST3S Internal Process Code

 

912

4

STR1 CMOS Chip ID Self-test Result

ENUM

PST3S CMOS Chip ID Self-test Result. Possible values are in Table 165

 

916

4

STR1 FPGA MRAM Self-test Result

ENUM

PST3S FPGA MRAM Self-test Result. Possible values are in Table 165

 

920

8

STR1 Number of Extracted Stars

UINT

PST3S Number of Extracted Stars

 

928

8

STR1 Operating Mode

ENUM

PST3S Operating Mode. Possible values are in Table 166

 

936

8

STR1 Imaging Gain

UINT

PST3S Imaging Gain

 

944

8

STR1 Minimum Navigation Stars

UINT

PST3S Minimum Navigation Stars When Quaternion is Valid

 

952

4

STR1 Data Valid

ENUM

PST3S Data Valid. Possible values are in Table 167

 

956

4

STR1 External Image State

ENUM

PST3S External Image State. Possible values are in Table 168

 

960

8

STR1 Number of Identified Stars

UINT

PST3S Number of Identified Stars

 

968

8

STR1 Device Number

UINT

PST3S Device Number

 

976

8

STR1 Software Version

UINT

PST3S Software Version

 

984

8

STR1 EDAC Error Count

UINT

PST3S EDAC Error Count

 

992

32

STR1 Image Frame Number

UINT

PST3S Image Frame Number

 

1024

4

STR1 Dynamic Mode

ENUM

PST3S Dynamic Mode. Possible values are in Table 169

 

1028

4

STR1 SAA Mode

ENUM

PST3S SAA Mode. Possible values are in Table 170

 

1032

8

STR1 SAA Threshold

UINT

PST3S SAA Threshold

 

1040

8

STR1 Quaternion Filtering State

ENUM

PST3S Quaternion Filtering State. Possible values are in Table 171

 

1048

8

STR1 Four Star Capture Threshold

UINT

PST3S Four Star Capture Threshold

 

1056

8

STR1 Tracking Threshold

UINT

PST3S Tracking Threshold

 

1064

1

STR1 EDAC Switch

BOOL

PST3S EDAC Enabled/Disabled

 

1065

7

Reserved

PADDING

Reserved.

 

Table 163: Pst3sVersion Enumeration Values

Numeric Value

Name

Description

0

G2

PSST3S Version G2

1

H3

PSST3S Version H3

 

Table 164: Pst3sRateQuality Enumeration Values

Numeric Value

Name

Description

0

Invalid

Invalid - no velocity information

1

Estimated

Velocity is estimated from previous calculations

2

Precise

Velocity is precise and calculated from attitude data

 

Table 165: Pst3sSelfTestResult Enumeration Values

Numeric Value

Name

Description

0

Selt-test OK

Selt-test OK

1

Self-test Error

Selt-test Error

 

Table 166: Pst3sOperatingModes Enumeration Values

Numeric Value

Name

Description

0

Invalid

Invalid Mode

1

Normal Mode

Normal Mode

2

Fixed Threshold

Fixed Threshold

3

Self-Test

Self-Test Mode

 

Table 167: Pst3sDataValid Enumeration Values

Numeric Value

Name

Description

0

Gesture Data Valid

Gesture Data Valid

1

Attitude Data Valid

Attitude Data Valid

 

Table 168: Pst3sExtImageState Enumeration Values

Numeric Value

Name

Description

0

Invalid

External Image State Invalid for API version

1

Closed

External Image State Off

2

Open

External Image State On

 

Table 169: Pst3sDynamicMode Enumeration Values

Numeric Value

Name

Description

0

Invalid

Invalid Dynamic Mode. Depends on PST3S version.

1

High

High Dynamic Mode

2

Low

Low Dynamic Mode

 

Table 170: Pst3sSaaWorkingMode Enumeration Values

Numeric Value

Name

Description

0

Invalid

SAA Invalid. Depends on PST3S version.

1

Off

SAA Off

2

Tracking

SAA On when Tracking

3

Capture

SAA on when Capture

4

All

SAA on when Tracking and Capture

 

Table 171: Pst3sQuaternionFilteringGetState Enumeration Values

Numeric Value

Name

Description

0

Invalid

Filtering Invalid. Depends on PST3S version.

1

Off

Filtering Off

2

On

Filtering On

 

Table 172: ACP execution telemetry Telemetry Format

ID

214

Frame Length (bytes)

26

Description

ACP execution telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

Time since iteration start

UINT

Time since the start of the current loop iteration. (Unit of measure is [ms])

 

16

8

Current execution point

ENUM

Indicates which part of the loop is currently executing. Possible values are in Table 107

 

24

16

Execution time of node sync

UINT

Execution time of node sync. (Unit of measure is [ms])

 

40

16

Execution time of sensor comms

UINT

Execution time of sensor comms. (Unit of measure is [ms])

 

56

16

Execution time of sensor calibration

UINT

Execution time of sensor calibration. (Unit of measure is [ms])

 

72

16

Execution time of ADCS estimators

UINT

Execution time of ADCS estimators. (Unit of measure is [ms])

 

88

16

Execution time of ADCS controllers

UINT

Execution time of ADCS controllers. (Unit of measure is [ms])

 

104

16

Execution time of wheel comms

UINT

Execution time of wheel comms. (Unit of measure is [ms])

 

120

16

Execution time of ADCS models

UINT

Execution time of ADCS models. (Unit of measure is [ms])

 

136

16

Execution time of ADCS loop sync

UINT

Execution time of ADCS loop sync. (Unit of measure is [ms])

 

152

16

Execution time of health service

UINT

Execution time of health service. (Unit of measure is [ms])

 

168

16

Execution time of telemetry logging

UINT

Execution time of telemetry logging. (Unit of measure is [ms])

 

184

16

ADCS loop offset from RTC

INT

Time offset between the ADCS loop and RTC control pulse. (Unit of measure is [ms])

 

200

1

ADCS loop has started flag

BOOL

ADCS loop has started flag

 

201

1

HIL synchronised

BOOL

HIL is currently synchronised

 

202

6

PADDING

Reserved.

 

Table 173: OpenLoopCommandHxyzRW Telemetry Format

ID

215

Frame Length (bytes)

12

Description

OpenLoopCommandHxyzRW

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

X-momentum open-loop speed command

FLOAT

X-momentum open-loop speed command. (Unit of measure is [Nm])

 

32

32

Y-momentum open-loop speed command

FLOAT

Y-momentum open-loop speed command. (Unit of measure is [Nm])

 

64

32

Z-momentum open-loop speed command

FLOAT

Z-momentum open-loop speed command. (Unit of measure is [Nm])

 

Table 174: CubeComputer Health Telemetry Format

ID

216

Frame Length (bytes)

40

Description

Health telemetry for ADCS CubeComputer

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

MCU Temperature

INT

MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

16

16

MCU Current

UINT

MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

32

16

MCU Voltage Internal

UINT

MCU internal reference voltage. (Unit of measure is [mV])

 

48

16

MCU Supply Voltage

UINT

MCU supply voltage. (Unit of measure is [mV])

 

64

16

5V Supply Voltage

UINT

5V supply voltage. (Unit of measure is [mV])

 

80

16

Battery Voltage

UINT

Battery voltage. (Unit of measure is [mV])

 

96

16

Hardware Version Voltage

UINT

Hardware Version voltage. (Unit of measure is [mV])

 

112

16

SRAM1 Current

UINT

SRAM1 current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

128

16

SRAM2 Current

UINT

SRAM2 current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

144

16

FPGA Current 1v5

UINT

FPGA current on 1v5 rail. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

160

16

FRAM Current

UINT

FRAM current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

176

16

ADC Current

UINT

ADC current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

192

16

Flash Current

UINT

Flash memory current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

208

16

RS485 Current

UINT

RS485 driver current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

224

16

CAN Current

UINT

CAN driver current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

240

16

Gyro Current

UINT

Gyro current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

256

16

Redundant Gyro Current

UINT

Redundant gyro current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

272

1

Gyro Over Voltage

BOOL

Set if the primary gyro supply voltage has exceeded the maximum limit

 

273

1

Gyro Under Voltage

BOOL

Set if the primary gyro supply voltage has exceeded the minimum limit

 

274

1

Redundant Gyro Over Voltage

BOOL

Set if the redundant gyro supply voltage has exceeded the maximum limit

 

275

1

Redundant Gyro Under Voltage

BOOL

Set if the redundant gyro supply voltage has exceeded the minimum limit

 

276

4

PADDING

Reserved.

 

280

40

Watchdog Counters

ARRAY

Bitmask representing virtual watchdog region warning counters.

 

Table 175: Health telemetry for CubeSense Earth Telemetry Format

ID

217

Frame Length (bytes)

20

Description

Health telemetry for CubeSense Earth

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

HSS0 MCU Temperature

INT

HSS0 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

16

16

HSS0 MCU Current

UINT

HSS0 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

32

16

HSS0 MCU Voltage

UINT

HSS0 MCU supply voltage. (Unit of measure is [mV])

 

48

16

HSS0 Detector Temperature

UINT

HSS0 Detector Temperature. Formatted value is obtained using the formula: (formatted value) [dK] = RAWVAL*0.1

 

64

16

HSS0 Detector Current

UINT

HSS0 Detector Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

80

16

HSS1 MCU Temperature

INT

HSS1 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

96

16

HSS1 MCU Current

UINT

HSS1 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

112

16

HSS1 MCU Voltage

UINT

HSS1 MCU supply voltage. (Unit of measure is [mV])

 

128

16

HSS1 Detector Temperature

UINT

HSS1 Detector Temperature. Formatted value is obtained using the formula: (formatted value) [dK] = RAWVAL*0.1

 

144

16

HSS1 Detector Current

UINT

HSS1 Detector Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

Table 176: Health telemetry for Reaction Wheels Telemetry Format

ID

218

Frame Length (bytes)

32

Description

Health telemetry for reaction wheels

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

RWL0 MCU Temperature

INT

RWL0 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

16

16

RWL0 MCU Current

UINT

RWL0 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

32

16

RWL0 Battery Voltage

UINT

RWL0 Battery supply voltage. (Unit of measure is [mV])

 

48

16

RWL0 Battery Current

UINT

RWL0 Battery current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

64

16

RWL1 MCU Temperature

INT

RWL1 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

80

16

RWL1 MCU Current

UINT

RWL1 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

96

16

RWL1 Battery Voltage

UINT

RWL1 Battery supply voltage. (Unit of measure is [mV])

 

112

16

RWL1 Battery Current

UINT

RWL1 Battery current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

128

16

RWL2 MCU Temperature

INT

RWL2 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

144

16

RWL2 MCU Current

UINT

RWL2 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

160

16

RWL2 Battery Voltage

UINT

RWL2 Battery supply voltage. (Unit of measure is [mV])

 

176

16

RWL2 Battery Current

UINT

RWL2 Battery current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

192

16

RWL3 MCU Temperature

INT

RWL3 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

208

16

RWL3 MCU Current

UINT

RWL3 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

224

16

RWL3 Battery Voltage

UINT

RWL3 Battery supply voltage. (Unit of measure is [mV])

 

240

16

RWL3 Battery Current

UINT

RWL3 Battery current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

Table 177: Data Frame Telemetry Format

ID

219

Frame Length (bytes)

258

Description

A single frame of arbitrary data

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

Frame size

UINT

The effective frame size - number of bytes in FrameBytes populated with data

 

16

2048

Frame bytes

ARRAY

frame bytes

 

Table 178: Image Frame Information Telemetry Format

ID

220

Frame Length (bytes)

4

Description

Information about the current frame in memory

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

Image frame number

UINT

number of current frame loaded into download buffer

 

16

8

checksum

UINT

XOR checksum of frame loaded into download buffer

 

24

1

Last frame

BOOL

Set if this is the last frame in the transfer

 

25

1

Frame error

BOOL

Set if an error was encountered while processing the frame

 

Table 179: Mag sensing element configuration Telemetry Format

ID

221

Frame Length (bytes)

1

Description

Mag sensing element (primary/redundant) configuration

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

1

MAG0 sensing element

ENUM

MAG0 sensing element (primary/redundant). Possible values are in Table 50

 

1

1

MAG1 sensing element

ENUM

MAG1 sensing element (primary/redundant). Possible values are in Table 50

 

Table 180: Health telemetry for CubeNode NSSRWL Telemetry Format

ID

225

Frame Length (bytes)

44

Description

Health telemetry for CubeNode NSSRWL

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

RWL0 MCU Temperature

INT

RWL0 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

16

16

RWL0 MCU Current

UINT

RWL0 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

32

16

RWL0 MCU Voltage

UINT

RWL0 MCU supply voltage. (Unit of measure is [mV])

 

48

16

RWL0 5V Current

UINT

RWL0 5V current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

64

16

RWL0 PMU Current

UINT

RWL0 PMU Current. (Unit of measure is [mA])

 

80

1

RWL0 5V Overcurrent

BOOL

RWL0 5V overcurrent

 

81

1

RWL0 Power Good

BOOL

RWL0 PowerGood signal

 

82

1

RWL0 PMU Current Valid

BOOL

RWL0 Set if measurement was successful

 

83

5

PADDING

Reserved.

 

88

16

RWL1 MCU Temperature

INT

RWL1 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

104

16

RWL1 MCU Current

UINT

RWL1 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

120

16

RWL1 MCU Voltage

UINT

RWL1 MCU supply voltage. (Unit of measure is [mV])

 

136

16

RWL1 5V Current

UINT

RWL1 5V current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

152

16

RWL1 PMU Current

UINT

RWL1 PMU Current. (Unit of measure is [mA])

 

168

1

RWL1 5V Overcurrent

BOOL

Rwl1 5V overcurrent

 

169

1

RWL1 Power Good

BOOL

Rwl1 PowerGood signal

 

170

1

RWL1 PMU Current Valid

BOOL

RWL1 Set if measurement was successful

 

171

5

PADDING

Reserved.

 

176

16

RWL2 MCU Temperature

INT

RWL2 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

192

16

RWL2 MCU Current

UINT

RWL2 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

208

16

RWL2 MCU Voltage

UINT

RWL2 MCU supply voltage. (Unit of measure is [mV])

 

224

16

RWL2 5V Current

UINT

RWL2 5V current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

240

16

RWL2 PMU Current

UINT

RWL2 PMU Current. (Unit of measure is [mA])

 

256

1

RWL2 5V Overcurrent

BOOL

Rwl2 5V overcurrent

 

257

1

RWL2 Power Good

BOOL

Rwl2 PowerGood signal

 

258

1

RWL2 PMU Current Valid

BOOL

RWL2 Set if measurement was successful

 

259

5

PADDING

Reserved.

 

264

16

RWL3 MCU Temperature

INT

RWL3 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

280

16

RWL3 MCU Current

UINT

RWL3 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

296

16

RWL3 MCU Voltage

UINT

RWL3 MCU supply voltage. (Unit of measure is [mV])

 

312

16

RWL3 5V Current

UINT

RWL3 5V current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

328

16

RWL3 PMU Current

UINT

RWL3 PMU Current. (Unit of measure is [mA])

 

344

1

RWL3 5V Overcurrent

BOOL

Rwl3 5V overcurrent

 

345

1

RWL3 Power Good

BOOL

Rwl3 PowerGood signal

 

346

1

RWL3 PMU Current Valid

BOOL

RWL3 Set if measurement was successful

 

347

5

PADDING

Reserved.

 

Table 181: Raw NSSRWL sensor telemetry Telemetry Format

ID

226

Frame Length (bytes)

53

Description

Raw NSSRWL sensor telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

16

RWL0 target value

INT

RWL0 target value

 

80

32

RWL0 measured speed

FLOAT

RWL0 measured speed. (Unit of measure is [rpm])

 

112

16

RWL0 measured current

INT

RWL0 measured current. (Unit of measure is [mA])

 

128

16

RWL0 temperature

INT

RWL0 NSSRWL temperature (not CubeNode). (Unit of measure is [C])

 

144

16

RWL1 target value

INT

RWL1 target value

 

160

32

RWL1 measured speed

FLOAT

RWL1 measured speed. (Unit of measure is [rpm])

 

192

16

RWL1 measured current

INT

RWL1 measured current. (Unit of measure is [mA])

 

208

16

RWL1 temperature

INT

RWL1 NSSRWL temperature (not CubeNode). (Unit of measure is [C])

 

224

16

RWL2 target value

INT

RWL2 target value

 

240

32

RWL2 measured speed

FLOAT

RWL2 measured speed. (Unit of measure is [rpm])

 

272

16

RWL2 measured current

INT

RWL2 measured current. (Unit of measure is [mA])

 

288

16

RWL2 temperature

INT

RWL2 NSSRWL temperature (not CubeNode). (Unit of measure is [C])

 

304

16

RWL3 target value

INT

RWL3 target value

 

320

32

RWL3 measured speed

FLOAT

RWL3 measured speed. (Unit of measure is [rpm])

 

352

16

RWL3 measured current

INT

RWL3 measured current. (Unit of measure is [mA])

 

368

16

RWL3 temperature

INT

RWL3 NSSRWL temperature (not CubeNode). (Unit of measure is [C])

 

384

1

RWL0 valid flag

BOOL

RWL0 valid flag

 

385

1

RWL0 wheel mode

BOOL

RWL0 Set if in reaction wheel mode

 

386

1

RWL0 current-control mode

BOOL

RWL0 Set if in current-control mode

 

387

1

RWL0 speed-control mode

BOOL

RWL0 Set if in speed-control mode

 

388

1

RWL0 torque-control mode

BOOL

RWL0 Set if in torque-control mode

 

389

1

RWL0 CRC error

BOOL

RWL0 Set if CRC error on protected area

 

390

1

RWL0 wrong low-level command

BOOL

RWL0 wrong low-level command

 

391

1

RWL0 wrong high-level command

BOOL

RWL0 wrong high-level command

 

392

1

RWL0 Timeout SCI1 main

BOOL

RWL0 Timeout on SCI1 main interface

 

393

1

RWL1 valid flag

BOOL

RWL1 valid flag

 

394

1

RWL1 wheel mode

BOOL

RWL1 Set if in reaction wheel mode

 

395

1

RWL1 current-control mode

BOOL

RWL1 Set if in current-control mode

 

396

1

RWL1 speed-control mode

BOOL

RWL1 Set if in speed-control mode

 

397

1

RWL1 torque-control mode

BOOL

RWL1 Set if in torque-control mode

 

398

1

RWL1 CRC error

BOOL

RWL1 Set if CRC error on protected area

 

399

1

RWL1 wrong low-level command

BOOL

RWL1 wrong low-level command

 

400

1

RWL1 wrong high-level command

BOOL

RWL1 wrong high-level command

 

401

1

RWL1 Timeout SCI1 main

BOOL

RWL1 Timeout on SCI1 main interface

 

402

1

RWL2 valid flag

BOOL

RWL2 valid flag

 

403

1

RWL2 wheel mode

BOOL

RWL2 Set if in reaction wheel mode

 

404

1

RWL2 current-control mode

BOOL

RWL2 Set if in current-control mode

 

405

1

RWL2 speed-control mode

BOOL

RWL2 Set if in speed-control mode

 

406

1

RWL2 torque-control mode

BOOL

RWL2 Set if in torque-control mode

 

407

1

RWL2 CRC error

BOOL

RWL2 Set if CRC error on protected area

 

408

1

RWL2 wrong low-level command

BOOL

RWL2 wrong low-level command

 

409

1

RWL2 wrong high-level command

BOOL

RWL2 wrong high-level command

 

410

1

RWL2 Timeout SCI1 main

BOOL

RWL2 Timeout on SCI1 main interface

 

411

1

RWL3 valid flag

BOOL

RWL3 valid flag

 

412

1

RWL3 wheel mode

BOOL

RWL3 Set if in reaction wheel mode

 

413

1

RWL3 current-control mode

BOOL

RWL3 Set if in current-control mode

 

414

1

RWL3 speed-control mode

BOOL

RWL3 Set if in speed-control mode

 

415

1

RWL3 torque-control mode

BOOL

RWL3 Set if in torque-control mode

 

416

1

RWL3 CRC error

BOOL

RWL3 Set if CRC error on protected area

 

417

1

RWL3 wrong low-level command

BOOL

RWL3 wrong low-level command

 

418

1

RWL3 wrong high-level command

BOOL

RWL3 wrong high-level command

 

419

1

RWL3 Timeout SCI1 main

BOOL

RWL3 Timeout on SCI1 main interface

 

420

4

PADDING

Reserved.

 

Table 182: Telemtry log inclusion masks Telemetry Format

ID

227

Frame Length (bytes)

10

Description

Get the Telemtry log inclusion masks

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

40

Fast inclusion bitmask

ARRAY

Log ID inclusion bitmask for telemetry logged every 200ms

 

40

40

Slow inclusion bitmask

ARRAY

Log ID inclusion bitmask for telemetry logged every 1s

 

Table 183: Unsolicited Telemetry Message Setup Telemetry Format

ID

228

Frame Length (bytes)

17

Description

Inclusion bitmask for unsolicited telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

4

UART Tlm Return Interval

ENUM

Indicate how frequently unsolicited telemetry is transmitted on the UART interface. Possible values are in Table 63

 

4

4

UART2 Tlm Return Interval

ENUM

Indicate how frequently unsolicited telemetry is transmitted on the UART2 interface. Possible values are in Table 63

 

8

4

CAN Tlm Return Interval

ENUM

Indicate how frequently unsolicited telemetry is transmitted on the CAN interface. Possible values are in Table 63

 

12

4

Reserved

PADDING

Reserved.

 

16

40

UART TLM ID inclusion bitmask

ARRAY

Indicate which TLM IDs must be included in the transfered Telemetry on the UART interface

 

56

40

UART2 TLM ID inclusion bitmask

ARRAY

Indicate which TLM IDs must be included in the transfered Telemetry on the UART2 interface

 

96

40

CAN TLM ID inclusion bitmask

ARRAY

Indicate which TLM IDs must be included in the transfered Telemetry on the CAN interface

 

Table 184: Pass Through Telemetry Format

ID

229

Frame Length (bytes)

1

Description

TCTLM Passthrough settings

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Target Node

ENUM

Target Node. Possible values are in Table 60

 

Table 185: Component Error Codes Telemetry Format

ID

230

Frame Length (bytes)

24

Description

Error codes common to CubeComputer bootloader and control-program

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Master Service

UINT

Tctlm comms master service error code (node comms)

 

32

32

FRAM File System Service

UINT

FRAM file system error code.

 

64

32

Event Log Service

UINT

Event log service error code.

 

96

32

Image Log Service

UINT

Image log service error code.

 

128

32

Telemetry Log Service

UINT

Telemetry log service error code.

 

160

32

IMU Service

UINT

IMU/Gyro service error code.

 

Table 186: Image File Info Telemetry Format

ID

231

Frame Length (bytes)

14

Description

Stored image file information

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

File Handle

UINT

File handle of this file.

 

32

8

Node Type

ENUM

The node that this file was sourced from.. Possible values are in Table 60

 

40

32

Timestamp

UINT

Timestamp of when this file was stored.

 

72

32

Size

UINT

Size of the file in bytes.

 

104

1

First

BOOL

Set if this file is the first stored image.

 

105

1

Last

BOOL

Set if this file is the last stored image. If set, subsequent requests will wrap to the first file.

 

106

1

IsValid

BOOL

Set if this file's Meta data was CRC-validated.

 

Table 187: Image Transfer Status Telemetry Format

ID

232

Frame Length (bytes)

15

Description

Image Transfer Status

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

State

ENUM

State. Possible values are in Table 188

 

8

32

Error Code

UINT

Operation Error Code. Non-Zero = ERROR

 

40

32

Transfer Size

UINT

Size of the transfer

 

72

32

Data Remain

UINT

Amount of data still to be transfered

 

104

1

Invalid Node Error

BOOL

Set if the target node is invalid

 

105

1

Timeout Error

BOOL

Set if transfer timeout reached

 

106

1

Capture Error

BOOL

Set if the target node failed to capture image invalid

 

107

1

Setup Error

BOOL

Set if the target node failed to set up image transfer

 

108

1

File Open Read Error

BOOL

Set if error occured when opening storage file for reading

 

109

1

File Open Write Error

BOOL

Set if error occured when opening storage file for writing

 

110

1

File Read Error

BOOL

Set if error occured while reading from storage file

 

111

1

File Write Error

BOOL

Set if error occured while writing to storage file

 

112

1

Busy Error

BOOL

Set if there is already an ongoing transfer when attempting to store an image.

 

Table 188: ImageTransferState Enumeration Values

Numeric Value

Name

Description

0

Idle

Idle

1

BusyStore

Node image is being sttored internally on CubeComputer

2

BusyDownload

Node image is being downloaded from CubeComputer. This state applies to both direct downloads and downloads from storage

 

Table 189: Unsolicited Event Message Setup Telemetry Format

ID

233

Frame Length (bytes)

2

Description

Setup unsolicited event messages

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

1

UART Info Events

BOOL

Output Info class events to UART

 

1

1

UART Minor Warning Events

BOOL

Output minor warning class events to UART

 

2

1

UART Major Warning Events

BOOL

Output major warning class events to UART

 

3

1

UART Critical Events

BOOL

Output critical class events to UART2

 

4

1

UART2 Info Events

BOOL

Output Info class events to UART2

 

5

1

UART2 Minor Warning Events

BOOL

Output minor warning class events to UART2

 

6

1

UART2 Major Warning Events

BOOL

Output major warning class events to UART2

 

7

1

UART2 Critical Events

BOOL

Output critical class events to UART2

 

8

1

CAN Info Events

BOOL

Output Info class events to CAN

 

9

1

CAN Minor Warning Events

BOOL

Output minor warning class events to CAN

 

10

1

CAN Major Warning Events

BOOL

Output major warning class events to CAN

 

11

1

CAN Critical Events

BOOL

Output critical class events to CAN

 

Table 190: Get the Telemtry log status response Telemetry Format

ID

234

Frame Length (bytes)

19

Description

Get the Telemtry log status response

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Number of queued entries

UINT

The number of entries in the queue

 

8

8

Number of request iterations

UINT

The number of telemetry request iterations performed for the current log entry (0-4)

 

16

32

Number of entries

UINT

The total number of entries contained in the telemetry log

 

48

32

Oldest entry unix time

UINT

Timestamp of the oldest entry unix time in seconds

 

80

32

Latest entry unix time

UINT

Timestamp of the latest entry unix time in seconds

 

112

32

Write counter

UINT

The current event write counter

 

144

2

Read-Queue state

ENUM

The state of the read queue. Possible values are in Table 191

 

Table 191: TlmLogReadQueueState Enumeration Values

Numeric Value

Name

Description

0

Idle

Idle

1

BusyDownload

Telemetry log download in progress

2

BusyErase

Telemetry log erase is progress

 

Table 192: Get the Event log status response Telemetry Format

ID

235

Frame Length (bytes)

41

Description

Get the Event log status response

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

Number of queued entries

UINT

The number of entries in the queue

 

16

16

Number of buffered entries

UINT

The number of buffered (unwritten) entries

 

32

32

Number of entries

UINT

The total number of entries contained in the event log (buffered + written)

 

64

32

Number of empty entries

UINT

The total number of empty entries contained in the event log (storage space with no data)

 

96

32

Oldest entry unix time

UINT

Timestamp of the oldest entry unix time in seconds

 

128

32

Latest entry unix time

UINT

Timestamp of the latest entry unix time in seconds

 

160

32

Number of critical events

UINT

The total number of critical events contained in the event log

 

192

32

Number of major warning events

UINT

The total number of major warning events contained in the event log

 

224

32

Number of minor warning events

UINT

The total number of minor warning events contained in the event log

 

256

32

Number of info events

UINT

The total number of info events contained in the event log

 

288

32

Write counter

UINT

The current event write counter

 

320

2

Read-Queue state

ENUM

The state of the read queue. Possible values are in Table 193

 

Table 193: EventReadQueueState Enumeration Values

Numeric Value

Name

Description

0

Idle

Idle

1

BusyDownload

Event log download in progress

2

BusyErase

Event log erase is progress

 

Table 194: RAW LITEF uFORS sensor telemetry Telemetry Format

ID

236

Frame Length (bytes)

38

Description

Raw LITEF uFORS sensor telemetry

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Time integer seconds

UINT

Unix time integer seconds. (Unit of measure is [s])

 

32

32

Time nanoseconds

UINT

Unix time fraction nanoseconds. (Unit of measure is [ns])

 

64

32

EXTGYR0 Rate uFORS X

FLOAT

EXTGYR0 uFORS X Angular rate

 

96

32

EXTGYR0 Rate uFORS Y

FLOAT

EXTGYR0 uFORS Y Angular rate

 

128

32

EXTGYR0 Rate uFORS Z

FLOAT

EXTGYR0 uFORS Z Angular rate

 

160

1

EXTGYR0 NOGO uFORS X

BOOL

EXTGYR0 uFORS XStatus - NOGO bit

 

161

1

EXTGYR0 Reset Ack uFORS X

BOOL

EXTGYR0 uFORS X Status - Reset acknowledge bit

 

162

1

EXTGYR0 Temp Warning uFORS X

BOOL

EXTGYR0 uFORS X Status - temperature warning bit

 

163

1

EXTGYR0 Aux Control Loop Err uFORS X

BOOL

EXTGYR0 uFORS X Status - auxillary control loop error bit

 

164

1

EXTGYR0 Hardware BIT Err uFORS X

BOOL

EXTGYR0 uFORS X Status - Hardware BIT error bit

 

165

1

EXTGYR0 Measurement Range Err uFORS X

BOOL

EXTGYR0 uFORS X Status - Measurement range exceeded bit

 

166

1

EXTGYR0 Unknown Command uFORS X

BOOL

EXTGYR0 uFORS X Status - unknown command bit

 

167

1

EXTGYR0 NOGO uFORS Y

BOOL

EXTGYR0 uFORS Y Status - NOGO bit

 

168

1

EXTGYR0 Reset Ack uFORS Y

BOOL

EXTGYR0 uFORS Y Status - Reset acknowledge bit

 

169

1

EXTGYR0 Temp Warning uFORS Y

BOOL

EXTGYR0 uFORS Y Status - temperature warning bit

 

170

1

EXTGYR0 Aux Control Loop Err uFORS Y

BOOL

EXTGYR0 uFORS Y Status - auxillary control loop error bit

 

171

1

EXTGYR0 Hardware BIT Err uFORS Y

BOOL

EXTGYR0 uFORS Y Status - Hardware BIT error bit

 

172

1

EXTGYR0 Measurement Range Err uFORS Y

BOOL

EXTGYR0 uFORS Y Status - Measurement range exceeded bit

 

173

1

EXTGYR0 Unknown Command uFORS Y

BOOL

EXTGYR0 uFORS Y Status - unknown command bit

 

174

1

EXTGYR0 NOGO uFORS Z

BOOL

EXTGYR0 uFORS Z Status - NOGO bit

 

175

1

EXTGYR0 Reset Ack uFORS Z

BOOL

EXTGYR0 uFORS Z Status - Reset acknowledge bit

 

176

1

EXTGYR0 Temp Warning uFORS Z

BOOL

EXTGYR0 uFORS Z Status - temperature warning bit

 

177

1

EXTGYR0 Aux Control Loop Err uFORS Z

BOOL

EXTGYR0 uFORS Z Status - auxillary control loop error bit

 

178

1

EXTGYR0 Hardware BIT Err uFORS Z

BOOL

EXTGYR0 uFORS Z Status - Hardware BIT error bit

 

179

1

EXTGYR0 Measurement Range Err uFORS Z

BOOL

EXTGYR0 uFORS Z Status - Measurement range exceeded bit

 

180

1

EXTGYR0 Unknown Command uFORS Z

BOOL

EXTGYR0 uFORS Z Status - unknown command bit

 

181

3

PADDING

Reserved.

 

184

32

EXTGYR1 Rate uFORS X

FLOAT

EXTGYR1 uFORS X Angular rate

 

216

32

EXTGYR1 Rate uFORS Y

FLOAT

EXTGYR1 uFORS Y Angular rate

 

248

32

EXTGYR1 Rate uFORS Z

FLOAT

EXTGYR1 uFORS Z Angular rate

 

280

1

EXTGYR1 NOGO uFORS X

BOOL

EXTGYR1 uFORS XStatus - NOGO bit

 

281

1

EXTGYR1 Reset Ack uFORS X

BOOL

EXTGYR1 uFORS X Status - Reset acknowledge bit

 

282

1

EXTGYR1 Temp Warning uFORS X

BOOL

EXTGYR1 uFORS X Status - temperature warning bit

 

283

1

EXTGYR1 Aux Control Loop Err uFORS X

BOOL

EXTGYR1 uFORS X Status - auxillary control loop error bit

 

284

1

EXTGYR1 Hardware BIT Err uFORS X

BOOL

EXTGYR1 uFORS X Status - Hardware BIT error bit

 

285

1

EXTGYR1 Measurement Range Err uFORS X

BOOL

EXTGYR1 uFORS X Status - Measurement range exceeded bit

 

286

1

EXTGYR1 Unknown Command uFORS X

BOOL

EXTGYR1 uFORS X Status - unknown command bit

 

287

1

EXTGYR1 NOGO uFORS Y

BOOL

EXTGYR1 uFORS Y Status - NOGO bit

 

288

1

EXTGYR1 Reset Ack uFORS Y

BOOL

EXTGYR1 uFORS Y Status - Reset acknowledge bit

 

289

1

EXTGYR1 Temp Warning uFORS Y

BOOL

EXTGYR1 uFORS Y Status - temperature warning bit

 

290

1

EXTGYR1 Aux Control Loop Err uFORS Y

BOOL

EXTGYR1 uFORS Y Status - auxillary control loop error bit

 

291

1

EXTGYR1 Hardware BIT Err uFORS Y

BOOL

EXTGYR1 uFORS Y Status - Hardware BIT error bit

 

292

1

EXTGYR1 Measurement Range Err uFORS Y

BOOL

EXTGYR1 uFORS Y Status - Measurement range exceeded bit

 

293

1

EXTGYR1 Unknown Command uFORS Y

BOOL

EXTGYR1 uFORS Y Status - unknown command bit

 

294

1

EXTGYR1 NOGO uFORS Z

BOOL

EXTGYR1 uFORS Z Status - NOGO bit

 

295

1

EXTGYR1 Reset Ack uFORS Z

BOOL

EXTGYR1 uFORS Z Status - Reset acknowledge bit

 

296

1

EXTGYR1 Temp Warning uFORS Z

BOOL

EXTGYR1 uFORS Z Status - temperature warning bit

 

297

1

EXTGYR1 Aux Control Loop Err uFORS Z

BOOL

EXTGYR1 uFORS Z Status - auxillary control loop error bit

 

298

1

EXTGYR1 Hardware BIT Err uFORS Z

BOOL

EXTGYR1 uFORS Z Status - Hardware BIT error bit

 

299

1

EXTGYR1 Measurement Range Err uFORS Z

BOOL

EXTGYR1 uFORS Z Status - Measurement range exceeded bit

 

300

1

EXTGYR1 Unknown Command uFORS Z

BOOL

EXTGYR1 uFORS Z Status - unknown command bit

 

301

3

PADDING

Reserved.

 

Table 195: Node Initialization States Telemetry Format

ID

237

Frame Length (bytes)

10

Description

Current initialization state of each node

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

4

RWL0 init state

ENUM

RWL0 init state. Possible values are in Table 196

 

4

4

RWL1 init state

ENUM

RWL1 init state. Possible values are in Table 196

 

8

4

RWL2 init state

ENUM

RWL2 init state. Possible values are in Table 196

 

12

4

RWL3 init state

ENUM

RWL3 init state. Possible values are in Table 196

 

16

4

MAG0 init state

ENUM

MAG0 init state. Possible values are in Table 196

 

20

4

MAG1 init state

ENUM

MAG1 init state. Possible values are in Table 196

 

24

4

GYR0 init state

ENUM

GYR0 init state. Possible values are in Table 196

 

28

4

GYR1 init state

ENUM

GYR1 init state. Possible values are in Table 196

 

32

4

FSS0 init state

ENUM

FSS0 init state. Possible values are in Table 196

 

36

4

FSS1 init state

ENUM

FSS1 init state. Possible values are in Table 196

 

40

4

FSS2 init state

ENUM

FSS2 init state. Possible values are in Table 196

 

44

4

FSS3 init state

ENUM

FSS3 init state. Possible values are in Table 196

 

48

4

HSS0 init state

ENUM

HSS0 init state. Possible values are in Table 196

 

52

4

HSS1 init state

ENUM

HSS1 init state. Possible values are in Table 196

 

56

4

STR0 init state

ENUM

STR0 init state. Possible values are in Table 196

 

60

4

STR1 init state

ENUM

STR1 init state. Possible values are in Table 196

 

64

4

ExtSensor0 init state

ENUM

ExtSensor0 init state. Possible values are in Table 196

 

68

4

ExtSensor1 init state

ENUM

ExtSensor1 init state. Possible values are in Table 196

 

72

4

EXTGYR0 init state

ENUM

EXTGYR0 init state. Possible values are in Table 196

 

76

4

EXTGYR1 init state

ENUM

EXTGYR1 init state. Possible values are in Table 196

 

Table 196: InitState Enumeration Values

Numeric Value

Name

Description

0

Off

Node is powered off

1

Jump

Node is being commanded to jump to its control-program

2

Setup

Node control-program setup in progress

3

Done

Node initialization is complete. The control-program is running and ready for control

4

Pass

Node is powered on for passthrough and is not performing any tasks

5

Upgrade

Node is being used for upgrade - note that is any node bootloader is being upgraded, all nodes will be used since the whole bus is needed

6

Max

Enumeration max value (invalid)

 

Table 197: Expected Nodes Telemetry Format

ID

238

Frame Length (bytes)

72

Description

Lists the expected nodes config item

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Node Type: Slot 0

ENUM

Slot 0 - Node type identifier. Possible values are in Table 56

 

8

8

Abstract Node Type: Slot 0

ENUM

Slot 0 - Abstract Node type identifier. Possible values are in Table 60

 

16

32

Serial Number Integer: Slot 0

UINT

Slot 0 - Serial Number Integer Respresentation

 

48

8

Node Type: Slot 1

ENUM

Slot 1 - Node type identifier. Possible values are in Table 56

 

56

8

Abstract Node Type: Slot 1

ENUM

Slot 1 - Abstract Node type identifier. Possible values are in Table 60

 

64

32

Serial Number Integer: Slot 1

UINT

Slot 1 - Serial Number Integer Respresentation

 

96

8

Node Type: Slot 2

ENUM

Slot 2 - Node type identifier. Possible values are in Table 56

 

104

8

Abstract Node Type: Slot 2

ENUM

Slot 2 - Abstract Node type identifier. Possible values are in Table 60

 

112

32

Serial Number Integer: Slot 2

UINT

Slot 2 - Serial Number Integer Respresentation

 

144

8

Node Type: Slot 3

ENUM

Slot 3 - Node type identifier. Possible values are in Table 56

 

152

8

Abstract Node Type: Slot 3

ENUM

Slot 3 - Abstract Node type identifier. Possible values are in Table 60

 

160

32

Serial Number Integer: Slot 3

UINT

Slot 3 - Serial Number Integer Respresentation

 

192

8

Node Type: Slot 4

ENUM

Slot 4 - Node type identifier. Possible values are in Table 56

 

200

8

Abstract Node Type: Slot 4

ENUM

Slot 4 - Abstract Node type identifier. Possible values are in Table 60

 

208

32

Serial Number Integer: Slot 4

UINT

Slot 4 - Serial Number Integer Respresentation

 

240

8

Node Type: Slot 5

ENUM

Slot 5 - Node type identifier. Possible values are in Table 56

 

248

8

Abstract Node Type: Slot 5

ENUM

Slot 5 - Abstract Node type identifier. Possible values are in Table 60

 

256

32

Serial Number Integer: Slot 5

UINT

Slot 5 - Serial Number Integer Respresentation

 

288

8

Node Type: Slot 6

ENUM

Slot 6 - Node type identifier. Possible values are in Table 56

 

296

8

Abstract Node Type: Slot 6

ENUM

Slot 6 - Abstract Node type identifier. Possible values are in Table 60

 

304

32

Serial Number Integer: Slot 6

UINT

Slot 6 - Serial Number Integer Respresentation

 

336

8

Node Type: Slot 7

ENUM

Slot 7 - Node type identifier. Possible values are in Table 56

 

344

8

Abstract Node Type: Slot 7

ENUM

Slot 7 - Abstract Node type identifier. Possible values are in Table 60

 

352

32

Serial Number Integer: Slot 7

UINT

Slot 7 - Serial Number Integer Respresentation

 

384

8

Node Type: Slot 8

ENUM

Slot 8 - Node type identifier. Possible values are in Table 56

 

392

8

Abstract Node Type: Slot 8

ENUM

Slot 8 - Abstract Node type identifier. Possible values are in Table 60

 

400

32

Serial Number Integer: Slot 8

UINT

Slot 8 - Serial Number Integer Respresentation

 

432

8

Node Type: Slot 9

ENUM

Slot 9 - Node type identifier. Possible values are in Table 56

 

440

8

Abstract Node Type: Slot 9

ENUM

Slot 9 - Abstract Node type identifier. Possible values are in Table 60

 

448

32

Serial Number Integer: Slot 9

UINT

Slot 9 - Serial Number Integer Respresentation

 

480

8

Node Type: Slot 10

ENUM

Slot 10 - Node type identifier. Possible values are in Table 56

 

488

8

Abstract Node Type: Slot 10

ENUM

Slot 10 - Abstract Node type identifier. Possible values are in Table 60

 

496

32

Serial Number Integer: Slot 10

UINT

Slot 10 - Serial Number Integer Respresentation

 

528

8

Node Type: Slot 11

ENUM

Slot 11 - Node type identifier. Possible values are in Table 56

 

536

8

Abstract Node Type: Slot 11

ENUM

Slot 11 - Abstract Node type identifier. Possible values are in Table 60

 

544

32

Serial Number Integer: Slot 11

UINT

Slot 11 - Serial Number Integer Respresentation

 

Table 198: Port Map Telemetry Format

ID

239

Frame Length (bytes)

120

Description

This telemetry describes the nodes that have been discovered i.e. connected to CubeConnect

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Node Type: Sensor 1

ENUM

Sensor 1 port - Node type identifier. Possible values are in Table 56

 

8

8

Abstract Node Type: Sensor 1

ENUM

Sensor 1 port - Abstract Node type identifier. Possible values are in Table 60

 

16

32

Serial Number Integer: Sensor 1

UINT

Sensor 1 port - Serial Number Integer Respresentation

 

48

32

Address: Sensor 1

UINT

Sensor 1 port - CAN Address

 

80

8

Node Type: Sensor 2

ENUM

Sensor 2 port - Node type identifier. Possible values are in Table 56

 

88

8

Abstract Node Type: Sensor 2

ENUM

Sensor 2 port - Abstract Node type identifier. Possible values are in Table 60

 

96

32

Serial Number Integer: Sensor 2

UINT

Sensor 2 port - Serial Number Integer Respresentation

 

128

32

Address: Sensor 2

UINT

Sensor 2 port - CAN Address

 

160

8

Node Type: Sensor 3

ENUM

Sensor 3 port - Node type identifier. Possible values are in Table 56

 

168

8

Abstract Node Type: Sensor 3

ENUM

Sensor 3 port - Abstract Node type identifier. Possible values are in Table 60

 

176

32

Serial Number Integer: Sensor 3

UINT

Sensor 3 port - Serial Number Integer Respresentation

 

208

32

Address: Sensor 3

UINT

Sensor 3 port - CAN Address

 

240

8

Node Type: Sensor 4

ENUM

Sensor 4 port - Node type identifier. Possible values are in Table 56

 

248

8

Abstract Node Type: Sensor 4

ENUM

Sensor 4 port - Abstract Node type identifier. Possible values are in Table 60

 

256

32

Serial Number Integer: Sensor 4

UINT

Sensor 4 port - Serial Number Integer Respresentation

 

288

32

Address: Sensor 4

UINT

Sensor 4 port - CAN Address

 

320

8

Node Type: Sensor 5

ENUM

Sensor 5 port - Node type identifier. Possible values are in Table 56

 

328

8

Abstract Node Type: Sensor 5

ENUM

Sensor 5 port - Abstract Node type identifier. Possible values are in Table 60

 

336

32

Serial Number Integer: Sensor 5

UINT

Sensor 5 port - Serial Number Integer Respresentation

 

368

32

Address: Sensor 5

UINT

Sensor 5 port - CAN Address

 

400

8

Node Type: Sensor 6

ENUM

Sensor 6 port - Node type identifier. Possible values are in Table 56

 

408

8

Abstract Node Type: Sensor 6

ENUM

Sensor 6 port - Abstract Node type identifier. Possible values are in Table 60

 

416

32

Serial Number Integer: Sensor 6

UINT

Sensor 6 port - Serial Number Integer Respresentation

 

448

32

Address: Sensor 6

UINT

Sensor 6 port - CAN Address

 

480

8

Node Type: Sensor 7

ENUM

Sensor 7 port - Node type identifier. Possible values are in Table 56

 

488

8

Abstract Node Type: Sensor 7

ENUM

Sensor 7 port - Abstract Node type identifier. Possible values are in Table 60

 

496

32

Serial Number Integer: Sensor 7

UINT

Sensor 7 port - Serial Number Integer Respresentation

 

528

32

Address: Sensor 7

UINT

Sensor 7 port - CAN Address

 

560

8

Node Type: Sensor 8

ENUM

Sensor 8 port - Node type identifier. Possible values are in Table 56

 

568

8

Abstract Node Type: Sensor 8

ENUM

Sensor 8 port - Abstract Node type identifier. Possible values are in Table 60

 

576

32

Serial Number Integer: Sensor 8

UINT

Sensor 8 port - Serial Number Integer Respresentation

 

608

32

Address: Sensor 8

UINT

Sensor 8 port - CAN Address

 

640

8

Node Type: Wheel 1

ENUM

Wheel 1 port - Node type identifier. Possible values are in Table 56

 

648

8

Abstract Node Type: Wheel 1

ENUM

Wheel 1 port - Abstract Node type identifier. Possible values are in Table 60

 

656

32

Serial Number Integer: Wheel 1

UINT

Wheel 1 port - Serial Number Integer Respresentation

 

688

32

Address: Wheel 1

UINT

Wheel 1 port - CAN Address

 

720

8

Node Type: Wheel 2

ENUM

Wheel 2 port - Node type identifier. Possible values are in Table 56

 

728

8

Abstract Node Type: Wheel 2

ENUM

Wheel 2 port - Abstract Node type identifier. Possible values are in Table 60

 

736

32

Serial Number Integer: Wheel 2

UINT

Wheel 2 port - Serial Number Integer Respresentation

 

768

32

Address: Wheel 2

UINT

Wheel 2 port - CAN Address

 

800

8

Node Type: Wheel 3

ENUM

Wheel 3 port - Node type identifier. Possible values are in Table 56

 

808

8

Abstract Node Type: Wheel 3

ENUM

Wheel 3 port - Abstract Node type identifier. Possible values are in Table 60

 

816

32

Serial Number Integer: Wheel 3

UINT

Wheel 3 port - Serial Number Integer Respresentation

 

848

32

Address: Wheel 3

UINT

Wheel 3 port - CAN Address

 

880

8

Node Type: Wheel 4

ENUM

Wheel 4 port - Node type identifier. Possible values are in Table 56

 

888

8

Abstract Node Type: Wheel 4

ENUM

Wheel 4 port - Abstract Node type identifier. Possible values are in Table 60

 

896

32

Serial Number Integer: Wheel 4

UINT

Wheel 4 port - Serial Number Integer Respresentation

 

928

32

Address: Wheel 4

UINT

Wheel 4 port - CAN Address

 

Table 199: Port Diagnostics Telemetry Format

ID

240

Frame Length (bytes)

65

Description

Diagnostics relating to the inernal CubeConnect interface port

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Global Error Code

UINT

Global Error Code for Port Interface Operations. Signaling an error with at least one of the ports.

 

32

1

None Expected

BOOL

Set if the expected nodes configuration is empty.

 

33

1

None Discovered Error

BOOL

Set if no nodes have been discovered. Please ensure nodes are connected

 

34

1

Expected Match Error

BOOL

Set if the nodes that have been discovered do not match the expected nodes. Please read all port parameters to diagnose.

 

35

1

Address Assign Error

BOOL

Set if a CAN address could not be assigned to a node. Please read all port parameters to diagnose.

 

36

1

Abstract Type Error

BOOL

Set if an abstract node type could not be resolved. Typically due to an unsupported number of a specific type of node being discovered. Please read all port parameters to diagnose.

 

37

1

Config Persist Error

BOOL

Set if the discovered nodes could not be written to flash.

 

38

2

Reserved

PADDING

Reserved.

 

40

32

Error Code: Sensor 1

UINT

Sensor 1 port - Error Code for Port Interface Operations.

 

72

1

Unexpected Error: Sensor 1

BOOL

Sensor 1 port - Set if the node discovered on this port is not listed as an expected node.

 

73

1

Comms Error: Sensor 1

BOOL

Sensor 1 port - Set if a communications error ocurred.

 

74

1

Node Type Match Error: Sensor 1

BOOL

Sensor 1 port - Set if the previously discovered node type no longer matches the node connected to the port.

 

75

1

Serial Number Match Error: Sensor 1

BOOL

Sensor 1 port - Set if the previously discovered node serial number no longer matches the node connected to the port.

 

76

1

Address Assign Error: Sensor 1

BOOL

Sensor 1 port - Set if this port could not be assigned a CAN address.

 

77

1

Abstract Type Error: Sensor 1

BOOL

Sensor 1 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.

 

78

1

Serial Number Resolve Error: Sensor 1

BOOL

Sensor 1 port - Set if the serial number returned by the node could not be resolved to a node type.

 

79

1

Reserved

PADDING

Reserved.

 

80

32

Error Code: Sensor 2

UINT

Sensor 2 port - Error Code for Port Interface Operations.

 

112

1

Unexpected Error: Sensor 2

BOOL

Sensor 2 port - Set if the node discovered on this port is not listed as an expected node.

 

113

1

Comms Error: Sensor 2

BOOL

Sensor 2 port - Set if a communications error ocurred.

 

114

1

Node Type Match Error: Sensor 2

BOOL

Sensor 2 port - Set if the previously discovered node type no longer matches the node connected to the port.

 

115

1

Serial Number Match Error: Sensor 2

BOOL

Sensor 2 port - Set if the previously discovered node serial number no longer matches the node connected to the port.

 

116

1

Address Assign Error: Sensor 2

BOOL

Sensor 2 port - Set if this port could not be assigned a CAN address.

 

117

1

Abstract Type Error: Sensor 2

BOOL

Sensor 2 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.

 

118

1

Serial Number Resolve Error: Sensor 2

BOOL

Sensor 2 port - Set if the serial number returned by the node could not be resolved to a node type.

 

119

1

Reserved

PADDING

Reserved.

 

120

32

Error Code: Sensor 3

UINT

Sensor 3 port - Error Code for Port Interface Operations.

 

152

1

Unexpected Error: Sensor 3

BOOL

Sensor 3 port - Set if the node discovered on this port is not listed as an expected node.

 

153

1

Comms Error: Sensor 3

BOOL

Sensor 3 port - Set if a communications error ocurred.

 

154

1

Node Type Match Error: Sensor 3

BOOL

Sensor 3 port - Set if the previously discovered node type no longer matches the node connected to the port.

 

155

1

Serial Number Match Error: Sensor 3

BOOL

Sensor 3 port - Set if the previously discovered node serial number no longer matches the node connected to the port.

 

156

1

Address Assign Error: Sensor 3

BOOL

Sensor 3 port - Set if this port could not be assigned a CAN address.

 

157

1

Abstract Type Error: Sensor 3

BOOL

Sensor 3 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.

 

158

1

Serial Number Resolve Error: Sensor 3

BOOL

Sensor 3 port - Set if the serial number returned by the node could not be resolved to a node type.

 

159

1

Reserved

PADDING

Reserved.

 

160

32

Error Code: Sensor 4

UINT

Sensor 4 port - Error Code for Port Interface Operations.

 

192

1

Unexpected Error: Sensor 4

BOOL

Sensor 4 port - Set if the node discovered on this port is not listed as an expected node.

 

193

1

Comms Error: Sensor 4

BOOL

Sensor 4 port - Set if a communications error ocurred.

 

194

1

Node Type Match Error: Sensor 4

BOOL

Sensor 4 port - Set if the previously discovered node type no longer matches the node connected to the port.

 

195

1

Serial Number Match Error: Sensor 4

BOOL

Sensor 4 port - Set if the previously discovered node serial number no longer matches the node connected to the port.

 

196

1

Address Assign Error: Sensor 4

BOOL

Sensor 4 port - Set if this port could not be assigned a CAN address.

 

197

1

Abstract Type Error: Sensor 4

BOOL

Sensor 4 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.

 

198

1

Serial Number Resolve Error: Sensor 4

BOOL

Sensor 4 port - Set if the serial number returned by the node could not be resolved to a node type.

 

199

1

Reserved

PADDING

Reserved.

 

200

32

Error Code: Sensor 5

UINT

Sensor 5 port - Error Code for Port Interface Operations.

 

232

1

Unexpected Error: Sensor 5

BOOL

Sensor 5 port - Set if the node discovered on this port is not listed as an expected node.

 

233

1

Comms Error: Sensor 5

BOOL

Sensor 5 port - Set if a communications error ocurred.

 

234

1

Node Type Match Error: Sensor 5

BOOL

Sensor 5 port - Set if the previously discovered node type no longer matches the node connected to the port.

 

235

1

Serial Number Match Error: Sensor 5

BOOL

Sensor 5 port - Set if the previously discovered node serial number no longer matches the node connected to the port.

 

236

1

Address Assign Error: Sensor 5

BOOL

Sensor 5 port - Set if this port could not be assigned a CAN address.

 

237

1

Abstract Type Error: Sensor 5

BOOL

Sensor 5 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.

 

238

1

Serial Number Resolve Error: Sensor 5

BOOL

Sensor 5 port - Set if the serial number returned by the node could not be resolved to a node type.

 

239

1

Reserved

PADDING

Reserved.

 

240

32

Error Code: Sensor 6

UINT

Sensor 6 port - Error Code for Port Interface Operations.

 

272

1

Unexpected Error: Sensor 6

BOOL

Sensor 6 port - Set if the node discovered on this port is not listed as an expected node.

 

273

1

Comms Error: Sensor 6

BOOL

Sensor 6 port - Set if a communications error ocurred.

 

274

1

Node Type Match Error: Sensor 6

BOOL

Sensor 6 port - Set if the previously discovered node type no longer matches the node connected to the port.

 

275

1

Serial Number Match Error: Sensor 6

BOOL

Sensor 6 port - Set if the previously discovered node serial number no longer matches the node connected to the port.

 

276

1

Address Assign Error: Sensor 6

BOOL

Sensor 6 port - Set if this port could not be assigned a CAN address.

 

277

1

Abstract Type Error: Sensor 6

BOOL

Sensor 6 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.

 

278

1

Serial Number Resolve Error: Sensor 6

BOOL

Sensor 6 port - Set if the serial number returned by the node could not be resolved to a node type.

 

279

1

Reserved

PADDING

Reserved.

 

280

32

Error Code: Sensor 7

UINT

Sensor 7 port - Error Code for Port Interface Operations.

 

312

1

Unexpected Error: Sensor 7

BOOL

Sensor 7 port - Set if the node discovered on this port is not listed as an expected node.

 

313

1

Comms Error: Sensor 7

BOOL

Sensor 7 port - Set if a communications error ocurred.

 

314

1

Node Type Match Error: Sensor 7

BOOL

Sensor 7 port - Set if the previously discovered node type no longer matches the node connected to the port.

 

315

1

Serial Number Match Error: Sensor 7

BOOL

Sensor 7 port - Set if the previously discovered node serial number no longer matches the node connected to the port.

 

316

1

Address Assign Error: Sensor 7

BOOL

Sensor 7 port - Set if this port could not be assigned a CAN address.

 

317

1

Abstract Type Error: Sensor 7

BOOL

Sensor 7 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.

 

318

1

Serial Number Resolve Error: Sensor 7

BOOL

Sensor 7 port - Set if the serial number returned by the node could not be resolved to a node type.

 

319

1

Reserved

PADDING

Reserved.

 

320

32

Error Code: Sensor 8

UINT

Sensor 8 port - Error Code for Port Interface Operations.

 

352

1

Unexpected Error: Sensor 8

BOOL

Sensor 8 port - Set if the node discovered on this port is not listed as an expected node.

 

353

1

Comms Error: Sensor 8

BOOL

Sensor 8 port - Set if a communications error ocurred.

 

354

1

Node Type Match Error: Sensor 8

BOOL

Sensor 8 port - Set if the previously discovered node type no longer matches the node connected to the port.

 

355

1

Serial Number Match Error: Sensor 8

BOOL

Sensor 8 port - Set if the previously discovered node serial number no longer matches the node connected to the port.

 

356

1

Address Assign Error: Sensor 8

BOOL

Sensor 8 port - Set if this port could not be assigned a CAN address.

 

357

1

Abstract Type Error: Sensor 8

BOOL

Sensor 8 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.

 

358

1

Serial Number Resolve Error: Sensor 8

BOOL

Sensor 8 port - Set if the serial number returned by the node could not be resolved to a node type.

 

359

1

Reserved

PADDING

Reserved.

 

360

32

Error Code: Wheel 1

UINT

Wheel 1 port - Error Code for Port Interface Operations.

 

392

1

Unexpected Error: Wheel 1

BOOL

Wheel 1 port - Set if the node discovered on this port is not listed as an expected node.

 

393

1

Comms Error: Wheel 1

BOOL

Wheel 1 port - Set if a communications error ocurred.

 

394

1

Node Type Match Error: Wheel 1

BOOL

Wheel 1 port - Set if the previously discovered node type no longer matches the node connected to the port.

 

395

1

Serial Number Match Error: Wheel 1

BOOL

Wheel 1 port - Set if the previously discovered node serial number no longer matches the node connected to the port.

 

396

1

Address Assign Error: Wheel 1

BOOL

Wheel 1 port - Set if this port could not be assigned a CAN address.

 

397

1

Abstract Type Error: Wheel 1

BOOL

Wheel 1 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.

 

398

1

Serial Number Resolve Error: Wheel 1

BOOL

Wheel 1 port - Set if the serial number returned by the node could not be resolved to a node type.

 

399

1

Reserved

PADDING

Reserved.

 

400

32

Error Code: Wheel 2

UINT

Wheel 2 port - Error Code for Port Interface Operations.

 

432

1

Unexpected Error: Wheel 2

BOOL

Wheel 2 port - Set if the node discovered on this port is not listed as an expected node.

 

433

1

Comms Error: Wheel 2

BOOL

Wheel 2 port - Set if a communications error ocurred.

 

434

1

Node Type Match Error: Wheel 2

BOOL

Wheel 2 port - Set if the previously discovered node type no longer matches the node connected to the port.

 

435

1

Serial Number Match Error: Wheel 2

BOOL

Wheel 2 port - Set if the previously discovered node serial number no longer matches the node connected to the port.

 

436

1

Address Assign Error: Wheel 2

BOOL

Wheel 2 port - Set if this port could not be assigned a CAN address.

 

437

1

Abstract Type Error: Wheel 2

BOOL

Wheel 2 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.

 

438

1

Serial Number Resolve Error: Wheel 2

BOOL

Wheel 2 port - Set if the serial number returned by the node could not be resolved to a node type.

 

439

1

Reserved

PADDING

Reserved.

 

440

32

Error Code: Wheel 3

UINT

Wheel 3 port - Error Code for Port Interface Operations.

 

472

1

Unexpected Error: Wheel 3

BOOL

Wheel 3 port - Set if the node discovered on this port is not listed as an expected node.

 

473

1

Comms Error: Wheel 3

BOOL

Wheel 3 port - Set if a communications error ocurred.

 

474

1

Node Type Match Error: Wheel 3

BOOL

Wheel 3 port - Set if the previously discovered node type no longer matches the node connected to the port.

 

475

1

Serial Number Match Error: Wheel 3

BOOL

Wheel 3 port - Set if the previously discovered node serial number no longer matches the node connected to the port.

 

476

1

Address Assign Error: Wheel 3

BOOL

Wheel 3 port - Set if this port could not be assigned a CAN address.

 

477

1

Abstract Type Error: Wheel 3

BOOL

Wheel 3 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.

 

478

1

Serial Number Resolve Error: Wheel 3

BOOL

Wheel 3 port - Set if the serial number returned by the node could not be resolved to a node type.

 

479

1

Reserved

PADDING

Reserved.

 

480

32

Error Code: Wheel 4

UINT

Wheel 4 port - Error Code for Port Interface Operations.

 

512

1

Unexpected Error: Wheel 4

BOOL

Wheel 4 port - Set if the node discovered on this port is not listed as an expected node.

 

513

1

Comms Error: Wheel 4

BOOL

Wheel 4 port - Set if a communications error ocurred.

 

514

1

Node Type Match Error: Wheel 4

BOOL

Wheel 4 port - Set if the previously discovered node type no longer matches the node connected to the port.

 

515

1

Serial Number Match Error: Wheel 4

BOOL

Wheel 4 port - Set if the previously discovered node serial number no longer matches the node connected to the port.

 

516

1

Address Assign Error: Wheel 4

BOOL

Wheel 4 port - Set if this port could not be assigned a CAN address.

 

517

1

Abstract Type Error: Wheel 4

BOOL

Wheel 4 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.

 

518

1

Serial Number Resolve Error: Wheel 4

BOOL

Wheel 4 port - Set if the serial number returned by the node could not be resolved to a node type.

 

519

1

Reserved

PADDING

Reserved.

 

Table 200: File Transfer Setup Telemetry Format

ID

241

Frame Length (bytes)

141

Description

Setup a file transfer

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Op Code

ENUM

Operation to perform. Possible values are in Table 54

 

8

8

File

ENUM

File to target. Possible values are in Table 55

 

16

8

Node

ENUM

OpCode = Upgrade: Node to upgrade in conjunction with SerialInt. Possible values are in Table 56

 

24

32

Serial Number Integer

UINT

OpCode = Upgrade: Serial Number Integer of node to upgrade in conjunction with Node

 

56

8

Program

ENUM

OpCode = Upgrade: The Program Type to upgrade with. Possible values are in Table 57

 

64

32

File Size

UINT

Size of target file: Only used to confirm setup.. (Unit of measure is [Bytes])

 

96

4

Force Port

ENUM

OpCode = Upgrade: Force that the node on this port is upgraded In the event that the node is not discoverable.. Possible values are in Table 58

 

100

4

PADDING

Reserved.

 

104

1024

File Meta Data

ARRAY

CubeSpace File Meta Data. May be less than allocated size (padding required)

 

Table 201: File Info Telemetry Format

ID

242

Frame Length (bytes)

105

Description

Cached file information after calling FileTransferSetup

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

File

ENUM

File this info represents. Possible values are in Table 55

 

8

8

Backend

ENUM

Which storage medmium is the file in. Possible values are in Table 202

 

16

8

Type

ENUM

File Type. Possible values are in Table 203

 

24

32

File Size

UINT

File Size (actual data written). (Unit of measure is [Bytes])

 

56

32

Size Allocated

UINT

Size of memory allocated to file. (Unit of measure is [Bytes])

 

88

32

Vector Table Offset

UINT

Vector Table Offset: Onling applicable to application binary files. (Unit of measure is [Bytes])

 

120

32

Unix seconds

UINT

Modification Unix time s. (Unit of measure is [s])

 

152

32

Unix Nanoseconds

UINT

Modification Unix time ns. (Unit of measure is [ns])

 

184

32

CRC

UINT

File CRC

 

216

256

Component

STRING

ASCII string of chars denoting the CubeSpace Component this file is for/from

 

472

256

Program

STRING

ASCII string of chars denoting the Component Application this file is for/from

 

728

8

Firmware Version (Major)

UINT

Firmware version (Major) that this file is for/from

 

736

8

Firmware Version (Minor)

UINT

Firmware version (Minor) that this file is for/from

 

744

16

Firmware Version (Patch)

UINT

Firmware version (Patch) that this file is for/from

 

760

8

System Version (Major)

UINT

System version (Major) that this file is for/from

 

768

8

System Version (Minor)

UINT

System version (Minor) that this file is for/from

 

776

16

System Version (Patch)

UINT

System version (Patch) that this file is for/from

 

792

8

Owner Node Type

ENUM

The Node Type that owns the file. Possible values are in Table 56

 

800

32

Owner Serial Number Integer

UINT

The Serial Number integer of the node that owns the file

 

832

8

Owner Program

ENUM

The Program Type that owns the file. Possible values are in Table 57

 

Table 202: FtpBackend Enumeration Values

Numeric Value

Name

Description

0

FRAM

FRAM Storage Medium

1

Node

Node connected on internal bus

 

Table 203: FtpFileType Enumeration Values

Numeric Value

Name

Description

0

.bin

Binary image file

1

.cfg

Binary config file

2

Log

Log file

3

Photo

Bitmap photo

4

General

General/internal-use

 

Table 204: Health telemetry for CubeNode LITEFUFORS Telemetry Format

ID

243

Frame Length (bytes)

26

Description

Health telemetry for CubeNode LITEFUFORS

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

EXTGYR0 MCU Temperature

INT

EXTGYR0 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

16

16

EXTGYR0 MCU Current

UINT

EXTGYR0 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

32

16

EXTGYR0 MCU Voltage

UINT

EXTGYR0 MCU supply voltage. (Unit of measure is [mV])

 

48

16

EXTGYR0 X-axis Current

UINT

EXTGYR0 X-axis current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

64

16

EXTGYR0 Y-axis Current

UINT

EXTGYR0 X-axis current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

80

16

EXTGYR0 Z-axis Current

UINT

EXTGYR0 X-axis current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

96

1

EXTGYR0 X-axis Overcurrent

BOOL

EXTGYR0 X-axis overcurrent

 

97

1

EXTGYR0 Y-axis Overcurrent

BOOL

EXTGYR0 X-axis overcurrent

 

98

1

EXTGYR0 Z-axis Overcurrent

BOOL

EXTGYR0 X-axis overcurrent

 

99

5

PADDING

Reserved.

 

104

16

EXTGYR1 MCU Temperature

INT

EXTGYR1 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01

 

120

16

EXTGYR1 MCU Current

UINT

EXTGYR1 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

136

16

EXTGYR1 MCU Voltage

UINT

EXTGYR1 MCU supply voltage. (Unit of measure is [mV])

 

152

16

EXTGYR1 X-axis Current

UINT

EXTGYR1 X-axis current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

168

16

EXTGYR1 Y-axis Current

UINT

EXTGYR1 X-axis current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

184

16

EXTGYR1 Z-axis Current

UINT

EXTGYR1 X-axis current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

 

200

1

EXTGYR1 X-axis Overcurrent

BOOL

EXTGYR1 X-axis overcurrent

 

201

1

EXTGYR1 Y-axis Overcurrent

BOOL

EXTGYR1 X-axis overcurrent

 

202

1

EXTGYR1 Z-axis Overcurrent

BOOL

EXTGYR1 X-axis overcurrent

 

203

5

PADDING

Reserved.

 

1.1.1     Configuration Messages

Table 205: List of Configuration Messages

Set ID

Get ID

Name

Description

Length (bytes)

 

1.1.1     Events

Table 206: List of Events

ID

Name

Description

Class

Info

128

CubeComputer Control Program Started

Control-program on the CubeComputer started up - Table 207

Info

129

Control Mode Changed

Control Mode Changed - Table 208

Info

130

Estimation Mode Changed

Estimation Mode Changed - Table 210

Info

156

Orbit Mode Changed

Orbit Mode Changed - Table 212

Info

133

ADCS Configuration Changed

Commanded change of ADCS configuration - Table 213

Info

135

Open-loop magnetorquer command

Magnetorquer open-loop command received - Table 215

Info

136

Open-loop wheel speed command

Open-loop wheel speed command received - Table 216

Info

137

Open-loop wheel momentum command

Wheel momentum open-loop command received - Table 217

Info

138

New RPY Reference

New roll/pitch/yaw reference command received - Table 218

Info

139

New Ground Target Location Reference

New latitude/longitude/altitude ground target reference command received - Table 219

Info

140

New ECI Target Vector Reference

New ECI target vector reference command received - Table 220

Info

142

Eclipse/sunlight transition

Eclipse/sunlight transition occurred - Table 221

Info

143

Sun above local horizon transition

Sun above/below local horizon transition occurred - Table 222

Info

146

Mag Sensing Element Config Changed

Target sensing element has been changed - Table 223

Info

147

Mag Deploy Commanded

CubeMag has been commanded to deploy - Table 224

Info

148

Mag Deploy Success

CubeMag has been deployed successfully - Table 225

Info

157

File Upload Complete

File upload has completed successfully. - Table 226

Info

158

File Upload Error

File upload failed. - Table 227

Info

159

Node Upgraded - New Firmware Version

Node upgrade has completed successfully with new firmware version. - Table 228

Info

160

Node Upgraded - New System Version

Node upgrade has completed successfully with new system version. - Table 229

Info

254

Reset Commanded

Soft reset has been commanded - Table 230

Info

253

Unix Time Change Commanded

Unix time change has been commanded - Table 231

Info

252

Config Persisted

Volatile config items were written to flash - Table 232

Info

127

Port Validation Result

Result of Port Validation. This event will always be generated following port validation. - Table 233

Info

125

Auto-Discovery Successful

Auto-Discovery completed successfully - Table 234

Info

123

Node Address Changed

The address of the connected node has been changed - Table 235

Info

122

Power state changed

Power state changed - Table 236

Info

121

Power state change commanded

Power state change commanded - Table 237

Info

119

Node Passthrough

Passthrough communication to node - Table 238

Info

WarnMinor

131

Control Mode Change Not Allowed

Commanded control mode change not allowed - Table 239

WarnMinor

132

Estimation Mode Change Not Allowed

Commanded estimation mode change not allowed - Table 241

WarnMinor

153

Gyro Error

A minor error occured relating to gyro operation (see context) - Table 243

WarnMinor

161

Node Upgrade Error

Node upgrade failed. - Table 246

WarnMinor

120

Node Communications Errors

Communication to node failed - Table 247

WarnMinor

WarnMajor

134

ADCS Configuration Validation Error

Commanded change of ADCS configuration - Table 248

WarnMajor

144

Node Setup Error

Node setup failed - Table 250

WarnMajor

145

Node Jump Error

Node jump to app failed - Table 251

WarnMajor

149

Mag Deploy Error

CubeMag deploy error - Table 252

WarnMajor

150

Control Loop Failure

A failure occured relating to control iteration timing (see context) - Table 253

WarnMajor

155

Node Failure

A critical failure occured relating to an ADCS node. - Table 255

WarnMajor

251

Config Persist Error

Error occured while writing config items to flash - Table 256

WarnMajor

250

Virtual Watchdog Warning

A service protected by the virtual watchdog did not check in in time. - Table 257

WarnMajor

126

Port Validation Error

Port Validation failed. This event will only be generated if the previous Auto-Discovery was successful and validation of that setup has now failed - Table 258

WarnMajor

124

Auto-Discovery Error

Auto-Discovery failed and the expected node was not discovered - Table 259

WarnMajor

Critical

151

Control Loop Critical

Consecutive failures occured relating to control iteration timing (see context) - Table 260

Critical

152

Gyro Volatge Error

Gyro supply voltage is outside of operating limits - Table 262

Critical

154

Gyro Critical

A critical failure occured relating to gyro operation (see context) - Table 263

Critical

249

Virtual Watchdog Error

A service protected by the virtual watchdog did not check for three successive warnings. - Table 265

Critical

 

Table 207: CubeComputer Control Program Started Event Format

ID

128

Class

Info

Description

Control-program on the CubeComputer started up

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Reset Reason

ENUM

Cause of the last reset. Possible values are in Table 92

 

Table 208: Control Mode Changed Event Format

ID

129

Class

Info

Description

Control Mode Changed

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Control mode

ENUM

Control mode. Possible values are in Table 25

 

8

16

Magnetic control timeout

UINT

Magnetic control timeout. (Unit of measure is [s])

 

24

8

Change Reason

ENUM

Reason for change in control mode. Possible values are in Table 209

 

Table 209: ConModeChangeReason Enumeration Values

Numeric Value

Name

Description

1

Commanded

Commanded change in control mode

2

Magnetic control timeout

Magnetic control timeout

3

Gyro Error using 3-axis control

Gyro measurement error while using GyroEkf estimator and wheel control

 

Table 210: Estimation Mode Changed Event Format

ID

130

Class

Info

Description

Estimation Mode Changed

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Estimator mode

ENUM

Estimator mode. Possible values are in Table 39

 

8

8

Change Reason

ENUM

Reason for change in estimation mode. Possible values are in Table 211

 

16

1

Is Main Mode

BOOL

Main (true) or backup (false) estimator mode

 

Table 211: EstModeChangeReason Enumeration Values

Numeric Value

Name

Description

1

Commanded

Commanded change in estimation mode

2

Gyro error

Gyro measurement error while using GyroEKF or Gyro rate estimator

 

Table 212: Orbit Mode Changed Event Format

ID

156

Class

Info

Description

Orbit Mode Changed

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Orbit mode

ENUM

Orbit mode. Possible values are in Table 16

 

Table 213: ADCS Configuration Changed Event Format

ID

133

Class

Info

Description

Commanded change of ADCS configuration

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Configuration Change Type

ENUM

Configuration change type. Possible values are in Table 214

 

Table 214: AdcsConfigChangeType Enumeration Values

Numeric Value

Name

Description

0

Mounting configuration

Mounting configuration

1

Mag0 magnetometer in-orbit calibration configuration

Mag0 magnetometer in-orbit calibration configuration

2

Mag1 magnetometer in-orbit calibration configuration

Mag1 magnetometer in-orbit calibration configuration

3

ADCS controller configuration

ADCS controller configuration

4

ADCS estimator configuration

ADCS estimator configuration

5

ADCS satellite configuration

ADCS satellite configuration

6

Satellite orbit parameter configuration

Satellite orbit parameter configuration

7

Target satellite orbit parameter configuration

Target satellite orbit parameter configuration

8

Node selection configuration

Node selection configuration

9

Wheel configuration

wheel configuration

10

Magnetorquer configuration

Magnetorquer configuration

11

ASGP4 configuration

ASGP4 configuration

 

Table 215: Open-loop magnetorquer command Event Format

ID

135

Class

Info

Description

Magnetorquer open-loop command received

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

MTQ0 open-loop on-time command

INT

MTQ0 open-loop on-time command. (Unit of measure is [ms])

 

16

16

MTQ1 open-loop on-time command

INT

MTQ1 open-loop on-time command. (Unit of measure is [ms])

 

32

16

MTQ2 open-loop on-time command

INT

MTQ2 open-loop on-time command. (Unit of measure is [ms])

 

Table 216: Open-loop wheel speed command Event Format

ID

136

Class

Info

Description

Open-loop wheel speed command received

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

RWL0 open-loop speed command

INT

RWL0 open-loop speed command

 

16

16

RWL1 open-loop speed command

INT

RWL1 open-loop speed command

 

32

16

RWL2 open-loop speed command

INT

RWL2 open-loop speed command

 

48

16

RWL3 open-loop speed command

INT

RWL3 open-loop speed command

 

Table 217: Open-loop wheel momentum command Event Format

ID

137

Class

Info

Description

Wheel momentum open-loop command received

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

X-momentum open-loop speed command

INT

X-momentum open-loop speed command. Formatted value is obtained using the formula: (formatted value) [Nm] = RAWVAL*0.00001

 

16

16

Y-momentum open-loop speed command

INT

Y-momentum open-loop speed command. Formatted value is obtained using the formula: (formatted value) [Nm] = RAWVAL*0.00001

 

32

16

Z-momentum open-loop speed command

INT

Z-momentum open-loop speed command. Formatted value is obtained using the formula: (formatted value) [Nm] = RAWVAL*0.00001

 

Table 218: New RPY Reference Event Format

ID

138

Class

Info

Description

New roll/pitch/yaw reference command received

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

RPY Roll command

INT

RPY Roll command. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

16

16

RPY Pitch command

INT

RPY Pitch command. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

32

16

RPY Yaw command

INT

RPY Yaw command. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

Table 219: New Ground Target Location Reference Event Format

ID

139

Class

Info

Description

New latitude/longitude/altitude ground target reference command received

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

Target latitude command

INT

Target latitude command. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

16

16

Target longitude command

INT

Target longitude command. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

 

32

16

Target altitude command

UINT

Target altitude command. (Unit of measure is [km])

 

Table 220: New ECI Target Vector Reference Event Format

ID

140

Class

Info

Description

New ECI target vector reference command received

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

16

Commanded ECI pointing vector X component

INT

Commanded ECI pointing vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

16

16

Commanded ECI pointing vector Y component

INT

Commanded ECI pointing vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

32

16

Commanded ECI pointing vector Z component

INT

Commanded ECI pointing vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

 

Table 221: Eclipse/sunlight transition Event Format

ID

142

Class

Info

Description

Eclipse/sunlight transition occurred

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

1

Sunlit

BOOL

Sunlit

 

Table 222: Sun above local horizon transition Event Format

ID

143

Class

Info

Description

Sun above/below local horizon transition occurred

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

1

Sun Above Horizon

BOOL

Sun above local horizon

 

Table 223: Mag Sensing Element Config Changed Event Format

ID

146

Class

Info

Description

Target sensing element has been changed

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

1

New Sensing Element

ENUM

The new target sensing element. Possible values are in Table 50

 

Table 224: Mag Deploy Commanded Event Format

ID

147

Class

Info

Description

CubeMag has been commanded to deploy

 

Table 225: Mag Deploy Success Event Format

ID

148

Class

Info

Description

CubeMag has been deployed successfully

 

Table 226: File Upload Complete Event Format

ID

157

Class

Info

Description

File upload has completed successfully.

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

File

ENUM

Internal file handle of the uploaded file. Possible values are in Table 55

 

Table 227: File Upload Error Event Format

ID

158

Class

Info

Description

File upload failed.

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

File

ENUM

Internal file handle of the uploaded file. Possible values are in Table 55

 

8

32

Error Code

UINT

Operation Error Code. Non-Zero = ERROR

 

40

1

File Metadata Error

BOOL

File Metadata received is invalid

 

41

1

Version Error

BOOL

File version is incompatible

 

42

1

Node Exist Error

BOOL

Target node does not exist

 

43

1

Node Expected Error

BOOL

Target node is not expected

 

44

1

File CRC Error

BOOL

File CRC Error Flag

 

45

1

File Size Error

BOOL

File is too large

 

46

1

File Error

BOOL

File Error Flag (open/close)

 

47

1

File Invalid Error

BOOL

File Invalid Error Flag

 

48

1

File Full Error

BOOL

File Full Error Flag

 

49

1

File Empty Error

BOOL

File Empty Error Flag

 

50

1

Read Error

BOOL

Read Error Flag

 

51

1

Write Error

BOOL

Write Error Flag

 

52

1

Erase Error

BOOL

Erase Error Flag

 

53

1

Frame Size Error

BOOL

Frame Size Error Flag

 

54

1

Timeout Error

BOOL

Timeout Error Flag

 

55

1

Node Comms Error

BOOL

Set if node comms failed during upgrade

 

Table 228: Node Upgraded - New Firmware Version Event Format

ID

159

Class

Info

Description

Node upgrade has completed successfully with new firmware version.

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

4

Program

ENUM

The Program Type of the upgrade. Possible values are in Table 57

 

4

4

File Type

ENUM

File Type. Possible values are in Table 203

 

8

8

Firmware version (Major)

UINT

Firmware version (Major) following upgrade

 

16

8

Firmware version (Minor)

UINT

Firmware version (Minor) following upgrade

 

24

16

Firmware version (Patch)

UINT

Firmware version (Patch) following upgrade

 

Table 229: Node Upgraded - New System Version Event Format

ID

160

Class

Info

Description

Node upgrade has completed successfully with new system version.

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

4

Program

ENUM

The Program Type of the upgrade. Possible values are in Table 57

 

4

4

File Type

ENUM

File Type. Possible values are in Table 203

 

8

8

System version (Major)

UINT

System version (Major) following upgrade

 

16

8

System version (Minor)

UINT

System version (Minor) following upgrade

 

24

16

System version (Patch)

UINT

System version (Patch) following upgrade

 

Table 230: Reset Commanded Event Format

ID

254

Class

Info

Description

Soft reset has been commanded

 

Table 231: Unix Time Change Commanded Event Format

ID

253

Class

Info

Description

Unix time change has been commanded

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

New Unix seconds

UINT

New Unix time s. (Unit of measure is [s])

 

32

32

New Unix Nanoseconds

UINT

New Unix time ns. (Unit of measure is [ns])

 

Table 232: Config Persisted Event Format

ID

252

Class

Info

Description

Volatile config items were written to flash

 

Table 233: Port Validation Result Event Format

ID

127

Class

Info

Description

Result of Port Validation. This event will always be generated following port validation.

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

1

Error

BOOL

Set if any error occurred during port validation

 

Table 234: Auto-Discovery Successful Event Format

ID

125

Class

Info

Description

Auto-Discovery completed successfully

 

Table 235: Node Address Changed Event Format

ID

123

Class

Info

Description

The address of the connected node has been changed

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

New Address

UINT

The new node address

 

Table 236: Power state changed Event Format

ID

122

Class

Info

Description

Power state changed

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

1

New Power State

BOOL

New power state

 

Table 237: Power state change commanded Event Format

ID

121

Class

Info

Description

Power state change commanded

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

3

RWL0 power state

ENUM

RWL0 power state. Possible values are in Table 21

 

3

3

RWL1 power state

ENUM

RWL1 power state. Possible values are in Table 21

 

6

3

RWL2 power state

ENUM

RWL2 power state. Possible values are in Table 21

 

9

3

RWL3 power state

ENUM

RWL3 power state. Possible values are in Table 21

 

12

3

MAG0 power state

ENUM

MAG0 power state. Possible values are in Table 21

 

15

3

MAG1 power state

ENUM

MAG1 power state. Possible values are in Table 21

 

18

3

GYR0 power state

ENUM

GYR0 power state. Possible values are in Table 21

 

21

3

GYR1 power state

ENUM

GYR1 power state. Possible values are in Table 21

 

24

3

FSS0 power state

ENUM

FSS0 power state. Possible values are in Table 21

 

27

3

FSS1 power state

ENUM

FSS1 power state. Possible values are in Table 21

 

30

3

FSS2 power state

ENUM

FSS2 power state. Possible values are in Table 21

 

33

3

FSS3 power state

ENUM

FSS3 power state. Possible values are in Table 21

 

36

3

HSS0 power state

ENUM

HSS0 power state. Possible values are in Table 21

 

39

3

HSS1 power state

ENUM

HSS1 power state. Possible values are in Table 21

 

42

3

STR0 power state

ENUM

STR0 power state. Possible values are in Table 21

 

45

3

STR1 power state

ENUM

STR1 power state. Possible values are in Table 21

 

48

3

ExtSensor0 power state

ENUM

ExtSensor0 power state. Possible values are in Table 21

 

51

3

ExtSensor1 power state

ENUM

ExtSensor1 power state. Possible values are in Table 21

 

54

3

EXTGYR0 power state

ENUM

EXTGYR0 power state. Possible values are in Table 21

 

57

3

EXTGYR1 power state

ENUM

EXTGYR1 power state. Possible values are in Table 21

 

Table 238: Node Passthrough Event Format

ID

119

Class

Info

Description

Passthrough communication to node

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Message id

UINT

message id

 

8

32

Error Code

UINT

Error code

 

40

4

TcTlm Error

ENUM

TcTlm Nack Error. Possible values are in Table 94

 

Table 239: Control Mode Change Not Allowed Event Format

ID

131

Class

WarnMinor

Description

Commanded control mode change not allowed

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Current Control Mode

ENUM

Current control mode. Possible values are in Table 25

 

8

8

Commanded Control Mode

ENUM

Commanded control mode. Possible values are in Table 25

 

16

8

Reason

ENUM

Reason why control mode change was not allowed. Possible values are in Table 240

 

Table 240: ConModeNotAllowedReason Enumeration Values

Numeric Value

Name

Description

1

Control/Estimation Combination

Invalid control/estimation combination

2

Actuators Incompatible

Actuators not compatible with mode

3

Initial Conditions

Invalid initial conditions

 

Table 241: Estimation Mode Change Not Allowed Event Format

ID

132

Class

WarnMinor

Description

Commanded estimation mode change not allowed

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Current Estimation Mode

ENUM

Current estimation mode. Possible values are in Table 39

 

8

8

Commanded Estimation Mode

ENUM

Commanded estimation mode. Possible values are in Table 39

 

16

8

Reason

ENUM

Reason why estimation mode change was not allowed. Possible values are in Table 242

 

24

1

Is Main Mode

BOOL

Main (true) or backup (false) estimator mode

 

Table 242: EstModeNotAllowedReason Enumeration Values

Numeric Value

Name

Description

1

Control/Estimation Combination

Invalid control/estimation combination

2

Sensors Incompatible

Sensors not compatible with mode

 

Table 243: Gyro Error Event Format

ID

153

Class

WarnMinor

Description

A minor error occured relating to gyro operation (see context)

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

1

Gyro

ENUM

The gyro responsible for the event. Possible values are in Table 244

 

1

7

Context

ENUM

Context of the failure. Possible values are in Table 245

 

8

32

Error Code

UINT

Error code

 

40

8

Failure Count

UINT

Count of the number of consecutive failure for given context

 

Table 244: GyroSelect Enumeration Values

Numeric Value

Name

Description

0

Primary

Primary Gyro

1

Redundant

Redundant Gyro

 

Table 245: GyroErrorContext Enumeration Values

Numeric Value

Name

Description

0

Data-Ready timeout

The gyro did not signal data-ready in time

1

Sample Error

Failure to sample the gyro

 

Table 246: Node Upgrade Error Event Format

ID

161

Class

WarnMinor

Description

Node upgrade failed.

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

4

Program

ENUM

The Program Type of the upgrade. Possible values are in Table 57

 

4

4

File Type

ENUM

File Type. Possible values are in Table 203

 

8

32

Error Code

UINT

Operation Error Code. Non-Zero = ERROR

 

40

1

File Metadata Error

BOOL

File Metadata received is invalid

 

41

1

Version Error

BOOL

File version is incompatible

 

42

1

Node Exist Error

BOOL

Target node does not exist

 

43

1

Node Expected Error

BOOL

Target node is not expected

 

44

1

File CRC Error

BOOL

File CRC Error Flag

 

45

1

File Size Error

BOOL

File is too large

 

46

1

File Error

BOOL

File Error Flag (open/close)

 

47

1

File Invalid Error

BOOL

File Invalid Error Flag

 

48

1

File Full Error

BOOL

File Full Error Flag

 

49

1

File Empty Error

BOOL

File Empty Error Flag

 

50

1

Read Error

BOOL

Read Error Flag

 

51

1

Write Error

BOOL

Write Error Flag

 

52

1

Erase Error

BOOL

Erase Error Flag

 

53

1

Frame Size Error

BOOL

Frame Size Error Flag

 

54

1

Timeout Error

BOOL

Timeout Error Flag

 

55

1

Node Comms Error

BOOL

Set if node comms failed during upgrade

 

Table 247: Node Communications Errors Event Format

ID

120

Class

WarnMinor

Description

Communication to node failed

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Failed Message id

UINT

Failed message id

 

8

32

Error Code

UINT

Error code

 

40

4

TcTlm Error

ENUM

TcTlm Nack Error. Possible values are in Table 94

 

Table 248: ADCS Configuration Validation Error Event Format

ID

134

Class

WarnMajor

Description

Commanded change of ADCS configuration

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Validation Error

ENUM

Validation error. Possible values are in Table 249

 

Table 249: AdcsConfigValidationError Enumeration Values

Numeric Value

Name

Description

0

Stack mounting error

Error in stack mounting configuration

1

Magnetorquer mounting error

Error in magnetorquer mounting configuration

2

Wheel mounting configuration not allowed

Wheel mounting configuration not allowed

3

Mag0 sensitivity matrix error

Mag0 sensitivity matrix elements out of range

4

Mag1 sensitivity matrix error

Mag1 sensitivity matrix elements out of range

5

Moments of inertia error

Moments of inertia out of range

6

Products of inertia error

Products of inertia ratio out of range

7

Satellite orbit parameter error

Satellite orbit parameter error

8

Target satellite orbit parameter error

Target satellite orbit parameter error

9

Wheel parameters error

Wheel parameters out of range

10

Magnetorquer parameters error

Magnetorquer parameters out of range

 

Table 250: Node Setup Error Event Format

ID

144

Class

WarnMajor

Description

Node setup failed

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Error Code

UINT

Error code

 

Table 251: Node Jump Error Event Format

ID

145

Class

WarnMajor

Description

Node jump to app failed

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Error Code

UINT

Error code

 

Table 252: Mag Deploy Error Event Format

ID

149

Class

WarnMajor

Description

CubeMag deploy error

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

32

Error Code

UINT

Error code

 

Table 253: Control Loop Failure Event Format

ID

150

Class

WarnMajor

Description

A failure occured relating to control iteration timing (see context)

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Context

ENUM

Context of the failure. Possible values are in Table 254

 

8

32

Error Code

UINT

Error code

 

40

8

Failure Count

UINT

Count of the number of consecutive failure for given context

 

Table 254: LoopFailureContext Enumeration Values

Numeric Value

Name

Description

0

Loop Sync Timeout Start

Control loop sync timeout at start of configuration of loop period

1

Loop Sync Timeout Runtime

Control loop sync timeout during runtime

2

Loop Overrun

Control loop overrun

 

Table 255: Node Failure Event Format

ID

155

Class

WarnMajor

Description

A critical failure occured relating to an ADCS node.

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

8

32

Error Code

UINT

Error code

 

Table 256: Config Persist Error Event Format

ID

251

Class

WarnMajor

Description

Error occured while writing config items to flash

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Persist Result

ENUM

Config Persistence Last Result. Possible values are in Table 86

 

8

32

Error Code

UINT

Config Persistence Error Code

 

Table 257: Virtual Watchdog Warning Event Format

ID

250

Class

WarnMajor

Description

A service protected by the virtual watchdog did not check in in time.

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

40

Region Mask

ARRAY

Bitmask representing the warning count of each region, if a flag is set, the region that was not refreshed. Please consult with CubeSpace as to the service that uses the specified region

 

Table 258: Port Validation Error Event Format

ID

126

Class

WarnMajor

Description

Port Validation failed. This event will only be generated if the previous Auto-Discovery was successful and validation of that setup has now failed

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

1

Comms Error

BOOL

Set if the previously discovered node is no longer responding.

 

1

1

Node Type Match Error

BOOL

Set if the previously discovered node type no longer matches the node connected to the port.

 

2

1

Serial Number Resolve Error

BOOL

Set if the serial number returned by the node could not be resolved to a node type.

 

3

1

Serial Number Match Error

BOOL

Set if the previously discovered node serial number no longer matches the node connected to the port.

 

Table 259: Auto-Discovery Error Event Format

ID

124

Class

WarnMajor

Description

Auto-Discovery failed and the expected node was not discovered

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Node Type

ENUM

Node type identifier of the node that was expected but not discovered. Possible values are in Table 56

 

16

32

Serial Number Integer

UINT

Slot 0 - Serial Number Integer of the node that was expected but not discovered

 

Table 260: Control Loop Critical Event Format

ID

151

Class

Critical

Description

Consecutive failures occured relating to control iteration timing (see context)

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

8

Context

ENUM

Context of the failure. Possible values are in Table 261

 

Table 261: LoopCriticalContext Enumeration Values

Numeric Value

Name

Description

0

Loop Sync

Control loop critical failure state due to multiple consecutive syncronization timeouts

1

Loop Overrun

Control loop critical failure state due to multiple consecutive overruns

 

Table 262: Gyro Volatge Error Event Format

ID

152

Class

Critical

Description

Gyro supply voltage is outside of operating limits

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

1

Gyro

ENUM

The gyro responsible for the event. Possible values are in Table 244

 

1

1

Is Over Voltage

BOOL

Set if the event was triggered by over voltage. Cleared if the event was triggered by under voltage

 

2

6

Reserved

PADDING

Reserved.

 

8

16

Supply Voltage

UINT

Supply voltage at the time of the event. (Unit of measure is [mV])

 

Table 263: Gyro Critical Event Format

ID

154

Class

Critical

Description

A critical failure occured relating to gyro operation (see context)

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

1

Gyro

ENUM

The gyro responsible for the event. Possible values are in Table 244

 

1

7

Context

ENUM

Context of the failure. Possible values are in Table 264

 

Table 264: GyroCriticalContext Enumeration Values

Numeric Value

Name

Description

0

Driver setup failure

Low-level driver setup failed

1

Data ready setup failure

Data ready gpio setup failed

2

Configuration failure

Failed to configure the gyro

3

Comatose

The gyro has experience multiple, consecutive errors (GyroErrorContext) and is presumed unusable

 

Table 265: Virtual Watchdog Error Event Format

ID

249

Class

Critical

Description

A service protected by the virtual watchdog did not check for three successive warnings.

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

 

0

40

Region Mask

ARRAY

Bitmask representing the warning count of each region, if a flag is set, the region that was not refreshed repeatedly and is presumed dead. Please consult with CubeSpace as to the service that uses the specified region

 

1.1.1     Logging

Table 266: Loggable Telemetry Frames

Mask

Telemetry ID

Telemetry Frame

01 00 00 00 00 00 00 00 00 00

166

Health telemetry for CubeNode PST3S

02 00 00 00 00 00 00 00 00 00

167

Health telemetry for CubeMag magnetometer

04 00 00 00 00 00 00 00 00 00

168

Health telemetry for CubeSense Sun

08 00 00 00 00 00 00 00 00 00

169

Torquer Current measurements

10 00 00 00 00 00 00 00 00 00

170

Raw CubeSense Sun telemetry

20 00 00 00 00 00 00 00 00 00

171

Raw external sensor telemetry

40 00 00 00 00 00 00 00 00 00

172

Controller telemetry

80 00 00 00 00 00 00 00 00 00

173

Backup estimator telemetry

00 01 00 00 00 00 00 00 00 00

174

Models telemetry

00 02 00 00 00 00 00 00 00 00

175

Calibrated GNSS sensor telemetry

00 04 00 00 00 00 00 00 00 00

176

Calibrated HSS sensor telemetry

00 08 00 00 00 00 00 00 00 00

177

Calibrated MAG sensor telemetry

00 10 00 00 00 00 00 00 00 00

178

Calibrated FSS sensor telemetry

00 20 00 00 00 00 00 00 00 00

179

Raw CubeSense Earth telemetry

00 40 00 00 00 00 00 00 00 00

180

Raw MAG sensor telemetry

00 80 00 00 00 00 00 00 00 00

203

Raw CSS sensor telemetry

00 00 01 00 00 00 00 00 00 00

204

Raw GYR sensor telemetry

00 00 02 00 00 00 00 00 00 00

205

Raw RWL sensor telemetry

00 00 04 00 00 00 00 00 00 00

206

Calibrated CSS sensor telemetry

00 00 08 00 00 00 00 00 00 00

207

Calibrated GYR sensor telemetry

00 00 10 00 00 00 00 00 00 00

208

Calibrated STR sensor telemetry

00 00 20 00 00 00 00 00 00 00

209

Calibrated RWL sensor telemetry

00 00 40 00 00 00 00 00 00 00

210

Main estimator telemetry

00 00 80 00 00 00 00 00 00 00

211

Main estimator high-resolution telemetry

00 00 00 01 00 00 00 00 00 00

212

Raw GNSS sensor telemetry

00 00 00 02 00 00 00 00 00 00

213

Raw PST3S star tracker telemetry

00 00 00 04 00 00 00 00 00 00

214

ACP execution telemetry

00 00 00 08 00 00 00 00 00 00

216

CubeComputer Health

00 00 00 10 00 00 00 00 00 00

217

Health telemetry for CubeSense Earth

00 00 00 20 00 00 00 00 00 00

218

Health telemetry for Reaction Wheels

00 00 00 40 00 00 00 00 00 00

225

Health telemetry for CubeNode NSSRWL

00 00 00 80 00 00 00 00 00 00

226

Raw NSSRWL sensor telemetry

00 00 00 00 01 00 00 00 00 00

165

Health telemetry for CubeStar

00 00 00 00 02 00 00 00 00 00

160

Raw CubeStar telemetry

00 00 00 00 04 00 00 00 00 00

236

RAW LITEF uFORS sensor telemetry